How to setup a Pi-Zero for Real-time Control: The easiest step-by-step guide

control, raspberry pi, raspberry pi zero w, real-time, real-time linux, robot, rpi, rpi zero w, rt, rt linux -

How to setup a Pi-Zero for Real-time Control: The easiest step-by-step guide


Here, I am going to explain how to setup Raspberry Pi Zero W for development of a RT control application. 

Get SD Card Image of RT-Linux for RPI

Write the image

  • Prepare an SD card. Here, I am using an 32GB micro SD card.
  • With an SD card writing tool (here, Etcher), write the image in the SD card.

Setup WIFI setup before the first booting

  • Open and modify the file “realtimepi-wpa-supplicant.txt” in the sd card for setting up the wifi access


Setup a static IP address of Raspberry Pi Zero

  • Open /etc/dhcpcd.conf in the SD card file system and edit like this
  • interface wlan0
  • static ip_address=
  • static routers=
  • static domain_name_servers=
  • In the address,, you may use different ip address e.g., In this example I will use
  • If your router gateway is using different IP, (e.g.,, then change the value 192.168.1 to these numbers. For details see this link below

Insert the SD card in RPI and power on the RPI

    • Now, remove the SD card from your host PC, and insert it in RPI zero w.
    • Here, do not connect any USB device during the booting time. It will freeze the RPI.

Search the IP address of Raspberry Pi Zero

  • Execute the following commands in your host computer to search the ip address. If you did correctly for the upper part, the IP should be
  • apt-get install nmap
  • sudo apt-get install nmap
  • hostname -I
  • nmap -sn

  • If everything works correctly, you can SSH the raspberry pi zero w in your host PC.
  • ssh pi@

  • If everything is good, you should be able to access the RPI zero w with SSH.