Ubuntu/Debian

There are two methods of installation available:

• Use the provided install script.
• Install via the apt-get or synaptic package managers.

• Install script
• Using apt-get
  • Editing source.list
  • Install with apt-get
  • Checking the install
• Package details
  • openrtm-aist
  • openrtm-aist-dev
  • openrtm-aist-example
  • openrtm-aist-doc

Install script

Download the appropriate build script for your distribution ("pkg_install[version]_ubuntu.sh" or "pkg_install[version]_debian.sh") from the download page and execute it with root permissions. This script will automatically install the necessary dependencies using apt-get.

This script is convenient for installing the many packages necessary for developing and executing OpenRTM-aist-based systems. It is recommended that first-time users of OpenRTM-aist use it. However, it installs all packages that may be needed for working with OpenRTM-aist, which may include packages that you do not specifically need. Experienced users of OpenRTM-aist should use another installation method.

The procedure for using the script is described below.

 > wget [Download URL of pkg_installXXX.sh]
 > su
 # sh pkg_installXXX_ubuntu.sh
 // Questions will be asked during the procedure. Answer "y" or "Y" when appropriate.

Using apt-get

Editing source.list

A package repository that can be used from apt-get is provided by openrtm.org. This is not included in the default package repositories, so it must be entered into the apt-get settings manually. Append one of the following lines to the file /etc/apt/sources.list:

  deb http://www.openrtm.org/pub/Linux/ubuntu/ (code name) main

  deb http://www.openrtm.org/pub/Linux/debian/ (code name) main

"(code name)" should be the release name of your distribution version, as shown below.

Install with apt-get

Follow the procedure given below to install using apt-get. Answer the questions that are presented appropriately using "y".

 # apt-get update
 # apt-get install gcc g++ make uuid-dev
 # apt-get install libomniorb4 libomniorb4-dev omniidl4 omniorb4-nameserver
 # apt-get install python-support (Only needed for Debian 3.1 Sarge)
 # apt-get install openrtm-aist openrtm-aist-doc openrtm-aist-dev openrtm-aist-example

To maintain an installed version of OpenRTM-aist at the currently-installed version, append the following lines to the file "/etc/apt/preferences" (this example illustrates holding at version 1.0):

 Package: OpenRTM-aist
 Pin: version 1.0.*

For more details, see http://www.debian.org/doc/manuals/apt-howto/ch-apt-get.html#s-pin.

Checking the install

To confirm the installation succeeded, use the following command.

 $ dpkg -l 'openrtm*'
 Desired=Unknown/Install/Remove/Purge/Hold
 | Status=Not/Installed/Config-f/Unpacked/Failed-cfg/Half-inst/t-aWait/T-pend
 |/ Err?=(none)/Hold/Reinst-required/X=both-problems (Status,Err: uppercase=bad)
 ||/ Name           Version        Description
 +++-==============-==============-============================================
 ii  openrtm-aist   1.0.0-0        OpenRTM-aist runtime libraries and configura
 ii  openrtm-aist-d 1.0.0-0        Header files for OpenRTM-aist development
 pn  openrtm-aist-d <none>         (no description available)
 ii  openrtm-aist-e 1.0.0-0        OpenRTM-aist examples

Package details

The packages contain the following files.

openrtm-aist

openrtm-aist contains the run-time libraries and commands.

• Commands

   /usr/bin/rtcd
   /usr/bin/rtm-naming

• License and other documents

   /usr/share/doc/openrtm-aist/changelog.gz
   /usr/share/doc/openrtm-aist/README.Debian
   /usr/share/doc/openrtm-aist/README
   /usr/share/doc/openrtm-aist/README.jp
   /usr/share/doc/openrtm-aist/NEWS.gz
   /usr/share/doc/openrtm-aist/copyright
   /usr/share/doc/openrtm-aist/changelog.Debian.gz

• Example configuration file

   /usr/etc/rtc.conf.sample

• Libraries

   /usr/lib/libRTC-X.X.X.so.X.X.X
   /usr/lib/libRTC.a
   /usr/lib/libRTC.la
   /usr/lib/libRTC.so
   /usr/lib/libRTC-X.X.X.so.X

openrtm-aist-dev

openrtm-aist-dev contains the commands and headers necessary for development with OpenRTM-aist.

• Commands

   /usr/bin/rtc-template
   /usr/bin/rtm-config
   /usr/bin/rtm-skelwrapper

• License and other documents

   /usr/share/doc/openrtm-aist-dev/changelog.gz
   /usr/share/doc/openrtm-aist-dev/copyright
   /usr/share/doc/openrtm-aist-dev/changelog.Debian.gz

• Headers

   /usr/include/rtm/DefaultPeriodicTask.h
   /usr/include/rtm/OutPortPullConnector.h
   ...
   /usr/include/rtm/ExecutionContextBase.h
   /usr/include/rtm/Manager.h
   /usr/include/coil/OS.h
   /usr/include/coil/UUID.h
   ...
   /usr/include/coil/Properties.h

• Libraries and other files

   /usr/lib/OpenRTM-aist/py_helper/cxx_svc_impl.py
   /usr/lib/OpenRTM-aist/py_helper/profile_gen.py
   ...
   /usr/lib/OpenRTM-aist/py_helper/gen_base.py
   /usr/lib/OpenRTM-aist/py_helper/yat.py
   /usr/lib/pkgconfig/libcoil.pc
   /usr/lib/pkgconfig/libRTM.pc

openrtm-aist-example

openrtm-aist-example contains standalone and loadable sample RT Components and their source files.

• Sample standalone components

   /usr/share/OpenRTM-aist/examples/ConsoleOutComp
   /usr/share/OpenRTM-aist/examples/ConsoleInComp
   ...

• Sample source files

   /usr/share/OpenRTM-aist/examples/src/Composite/README.Motor
   /usr/share/OpenRTM-aist/examples/src/Composite/Makefile.Sensor
   /usr/share/OpenRTM-aist/examples/src/Composite/Motor.cpp
   ...
   /usr/share/OpenRTM-aist/examples/src/SimpleService/Makefile.MyServiceProvider
   /usr/share/OpenRTM-aist/examples/src/SimpleService/rtc.conf

• Sample loadable components

   /usr/share/OpenRTM-aist/examples/rtcs/MyServiceConsumer.so.0.0.0
   /usr/share/OpenRTM-aist/examples/rtcs/SeqIn.so.0.0.0
   ...
   /usr/share/OpenRTM-aist/examples/rtcs/ConfigSample.so.0.0.0
   /usr/share/OpenRTM-aist/examples/rtcs/ConsoleOut.so.0.0.0

• License and other documents

   /usr/share/doc/openrtm-aist-example/changelog.gz
   /usr/share/doc/openrtm-aist-example/copyright
   /usr/share/doc/openrtm-aist-example/changelog.Debian.gz

openrtm-aist-doc

openrtm-aist-doc contains the class reference and IDL interfaces reference.

• Class references

   /usr/share/OpenRTM-aist/docs/ClassReference/html/ConnectorBase_8h-source.html
   /usr/share/OpenRTM-aist/docs/ClassReference/html/RTC_8h.html
   ...
   /usr/share/OpenRTM-aist/docs/ClassReference-en/html/ConnectorBase_8h-source.html
   /usr/share/OpenRTM-aist/docs/ClassReference-en/html/RTC_8h.html
   ...
   /usr/share/OpenRTM-aist/docs/ClassReference-en/html/FactoryInit_8h-source.html

• IDL references

   /usr/share/OpenRTM-aist/docs/IDLReference/html/BasicDataType_8idl-source.html
   ...
   /usr/share/OpenRTM-aist/docs/IDLReference-en/html/BasicDataType_8idl-source.html
   /usr/share/OpenRTM-aist/docs/IDLReference-en/html/structRTC_1_1FsmProfile.html
   ...
   /usr/share/OpenRTM-aist/docs/IDLReference-en/html/interfaceOpenRTM_1_1InPortCdr-members.html

• License and other documents

   /usr/share/doc/openrtm-aist-doc/changelog.gz
   /usr/share/doc/openrtm-aist-doc/copyright
   /usr/share/doc/openrtm-aist-doc/changelog.Debian.gz