There are two methods of installation available:
- Use the provided install script.
- Install via the yum package manager.
Install script
Download the appropriate build script for your distribution ("pkg_install[version]_fedora.sh") from the download page and execute it with root permissions. This script will automatically install the necessary dependencies using yum.
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 [pkg_installXXX.sh download URL] > su # sh pkg_install1XX_fedora.sh // Questions will be asked during the procedure. Answer "y" or "Y" when appropriate.
Using yum
Creating /etc/yum.repos.d/openrtm.repo
A package repository that can be used from yum is provided by openrtm.org. This is not included in the default package repositories, so it must be entered into the yum settings manually. Enter the following lines to the file /etc/yum.repos.d/openrtm.repo:
[openrtm] name=Fedora $releasever - $basearch failovermethod=priority baseurl=http://www.openrtm.org/pub/Linux/Fedora/releases/$releasever/Fedora/$basearch/os/Packages enabled=1 gpgcheck=0 gpgkey=file:///etc/pki/rpm-gpg/RPM-GPG-KEY-fedora file:///etc/pki/rpm-gpg/RPM-GPG-KEYCENTER:''/etc/yum.repos.d/openrtm.repo''
Install with yum
Follow the procedure given below to install using yum. Answer the questions that are presented appropriately using "y".
> su # yum install gcc-c++ python # yum install omniORB omniORB-devel omniORB-doc omniORB-servers omniORB-utils omniORB-bootscripts # yum install OpenRTM-aist OpenRTM-aist-devel OpenRTM-aist-doc OpenRTM-aist-example
Checking the install
To confirm the installation succeeded, use the following command.
# rpm -q OpenRTM-aist OpenRTM-aist-1.0.0-0.fcX
Package details
The packages contain the following files.
OpenRTM-aist
openrtm-aist contains the run-time libraries and commands.
- Sample configuration file.
/etc/rtc.conf.sample
- Libraries
/usr/lib/libRTC-1.0.0.so.0 /usr/lib/libRTC-1.0.0.so.0.0.4 /usr/lib/libRTC.a /usr/lib/libRTC.la /usr/lib/libRTC.so /usr/lib/libcoil.a /usr/lib/libcoil.la /usr/lib/libcoil.so /usr/lib/libcoil.so.0 /usr/lib/libcoil.so.0.0.0
OpenRTM-aist-devel
openrtm-aist-dev contains headers and commands for developing with OpenRTM-aist.
- Commands
/usr/bin/coil-config /usr/bin/rtc-template /usr/bin/rtcd /usr/bin/rtcprof /usr/bin/rtm-config /usr/bin/rtm-naming /usr/bin/rtm-skelwrapper
- Headers
/usr/include/coil/Allocator.h /usr/include/coil/Async.h ... /usr/include/coil/memory.h /usr/include/coil/stringutil.h ... /usr/include/rtm/BufferBase.h /usr/include/rtm/BufferStatus.h ... /usr/include/rtm/Typename.h /usr/include/rtm/config_rtc.h
- IDL, stubs and skeletons
/usr/include/rtm/idl/BasicDataType.hh /usr/include/rtm/idl/BasicDataType.idl ... /usr/include/rtm/idl/device_interfaces/RFID.idl /usr/include/rtm/idl/device_interfaces/Ranger.idl
- Libraries
/usr/lib/OpenRTM-aist/py_helper/README_gen.py /usr/lib/OpenRTM-aist/py_helper/README_gen.pyc ... /usr/lib/OpenRTM-aist/py_helper/yat.pyc /usr/lib/OpenRTM-aist/py_helper/yat.pyo /usr/lib/pkgconfig/libcoil.pc /usr/lib/pkgconfig/openrtm-aist.pc
OpenRTM-aist-doc
openrtm-aist-doc contains the class reference and IDL interfaces reference.
- Class reference
/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 reference
/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
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
