You can compile from the source if you want to change the UNIX environment, package, cross development environment, OpenRTM-aist main source and use it. This section explains how to obtain the source from the download page or repository and build OpenRTM-aist on Linux.
The C++ edition of OpenRTM-aist uses autotools for its build environment, allowing it to be built in a variety of environments.
OpenRTM-aist has been tested and confirmed to work on the following distributions.
It should be possible to build and use OpenRTM-aist on other versions of Linux/UNIX.
OpenRTM-aist-1.0.0 depends on the folloowing environmental tools and libraries.
Install these dependencies according to their individual documentations. Installing them into standard locations such as /usr and /usr/local will make compiling OpenRTM-aist easier.
Download the OpenRTM-aist source code from the download page.
Extract the source code from the OpenRTM-aist-X.X.X.tar.gz file into a suitable location.
$ tar xvzf OpenRTM-aist-X.X.X.tar.gz $ cd OpenRTM-aist-X.X.X
OpenRTM-aist uses autotools for building. As with any autotools package, use autoconf and automake to prepare for building.
$ ./configure --prefix=/usr [options]
The usable options are listed in the help:
$ ./configure --help
Confirm that configure has completed successfully. Once it has, issue the make command.
$ make
When the make command has completed without any errors, the header files, libraries, utilities, etc. can be installed.
$ su # make install
This completes the build and installation procedure.
The OpenRTM-aist source code is stored in a publicly-available Subversion repository. This source code can be checked out and built.
The source in the repository does not include a configure script or any Makefile.in files. These must be generated using the following tools.
Since tools such as etc are necessary, it installs in advance. Ubuntu and others can use these bulk installation script mentioned above when installing these necessary tools.
By running pkg_install_ubuntu.sh in Ubuntu as follows, you can install tools for developers who develop the OpenRTM-aist body (including automake etc.) at once.
# pkg_install_ubuntu.sh -l c++ -c
Checkout the source from the repository as below.
$ svn co http://www.openrtp.jp/openrtm/svn/OpenRTM-aist/trunk/OpenRTM-aist A OpenRTM-aist/include A OpenRTM-aist/include/rtm A OpenRTM-aist/AUTHORS A OpenRTM-aist/src A OpenRTM-aist/src/ext A OpenRTM-aist/src/ext/artlinux ... A OpenRTM-aist/examples/Templates/PanTilt.xml A OpenRTM-aist/INSTALL.jp U OpenRTM-aist Checked out revision 2009.
Enter the directory created during the checkout procedure.
$ ls OpenRTM-aist $ cd OpenRTM-aist $ ls AUTHORS Makefile.am acinclude.m4 examples/ win32/ COPYING.LIB NEWS build/ include/ COPYRIGHT* README configure.ac openrtm.m4 ChangeLog README.jp docs/ src/ INSTALL.jp TUTORIAL.jp etc/ utils/
There is a shell script named "autogen" in the build directory. Execute this script. Execution may take several minutes.
$ls build/autogen build/autogen* $ sh build/autogen Setting up environment to generate configure script. ------------------------------------------------------------ Searching Autotools ------------------------------------------------------------ autoconf was found in /usr/local/bin/autoconf. autoheader was found in /usr/local/bin/autoheader. autom4te was found in /usr/local/bin/autom4te. autoreconf was found in /usr/local/bin/autoreconf. autoupdate was found in /usr/local/bin/autoupdates. automake was found in /usr/local/bin/automake-1.9. aclocal was found in /usr/local/bin/aclocal-1.9. libtool was found in /usr/local/bin/libtool. libtoolize was found in /usr/local/bin/libtoolize. ------------------------------------------------------------ Searching libtool.m4 ------------------------------------------------------------ file was found: /usr/local/share/aclocal/libtool.m4 Copying libtool.m4 from /usr/local/share/aclocal/libtool.m4 ------------------------------------------------------------ Doing autoreconf ------------------------------------------------------------ autoreconf-2.62: Entering directory `.' autoreconf-2.62: configure.ac: not using Gettext autoreconf-2.62: running: /usr/local/bin/aclocal-1.9 --force autoreconf-2.62: configure.ac: tracing autoreconf-2.62: configure.ac: adding subdirectory src/lib/coil to autoreconf autoreconf-2.62: Entering directory `src/lib/coil' autoreconf-2.62: running: /usr/local/bin/libtoolize --copy --force You should update your `aclocal.m4' by running aclocal. autoreconf-2.62: running: /usr/local/bin/autoconf --force autoreconf-2.62: running: /usr/local/bin/autoheader --force autoreconf-2.62: running: /usr/local/bin/automake-1.9 --add-missing --copy --force-missing configure.ac: installing `./install-sh' configure.ac: installing `./missing' ace/coil/Makefile.am: installing `./depcomp' Makefile.am: installing `./INSTALL' autoreconf-2.62: Leaving directory `src/lib/coil' You should update your `aclocal.m4' by running aclocal. configure.ac: installing `./install-sh' configure.ac: installing `./missing' examples/AutoTest/Makefile.am: installing `./depcomp' Makefile.am: installing `./INSTALL' autoreconf-2.62: Leaving directory `.' done $
The autogen script will create a configure script in the OpenRTM-aist directory. Execute this script and run the make command to build the source.
$ ls -l configure -rwxr-xr-x 1 n-ando n-ando 812893 Jul 6 05:56 configure* $ ./configure --prefix=/usr $ make
The "make dist" command can be used to create a distributable source package, such as those provided by openrtm.org. This includes making a source package suitable for building on Windows. In order to make a distribution package, some additional tools are necessary, such as doxygen, latex, and qkc.
$ make dist (Wait several minutes.) $ ls -l OpenRTM-aist* -rw-r--r-- 1 n-ando n-ando 9266837 Apr 7 09:53 OpenRTM-aist-1.0.0-win32.zip -rw-r--r-- 1 n-ando n-ando 4831099 Apr 7 09:53 OpenRTM-aist-1.0.0.tar.bz2 -rw-r--r-- 1 n-ando n-ando 7258796 Apr 7 09:53 OpenRTM-aist-1.0.0.tar.gz $
The following source packages are created: