Installation on Raspberry Pi (Raspbian)

Introduction
- (G)Supported version
- (G)Preparing an SD memory card
(G)Installing OpenRTM-aist
(G)Package details

(G)For C ++ version OpenRTM - aist is provided for Raspbian armhf for Raspberry Pi, deb package for armel. It takes about 3 hours when self-compiling with Raspberry Pi, so we recommend that you use this when packages are available. Please understand beforehand that correspondence to Raspbian and its version may be changed or suspended without notice.

Introduction

(G)Supported version

At the moment the version of Raspbian that package is available

Raspbian "wheezy" (armhf architecture)
Soft-float Debian "wheezy" (armel architecture)

です。

(G)Preparing an SD memory card

Download the image from the following page and write it to the SD memory card. SD memory card should be more than 4 GB . For details on how to write to the SD memory card, refer to RPi SD Card Setup.

On Windows, write using Win32DiskImager etc. In Linux and Mac OS, write using dd.

 $ sudo dd if = / dev / <device file of SD memory card> of = <image file downloaded / decompressed> bs = 1 m

(G)Installing OpenRTM-aist

The installation method of OpenRTM - aist can roughly be divided into the following two installation methods.

Use bulk installation script provided by openrtm.org
Specify -apt-get or synaptic package manager

Please install according to your preference.

(G)How to use bulk installation script

Download the installation script pkg_install_raspbian.sh provided by openrtm.org from the download page and execute it with root privilege. This script installs required packages sequentially with apt-get.

Bulk Installation Script

It is very convenient because it installs all necessary packages for developing and executing OpenRTM-aist. It is also recommended for those who try installing OpenRTM-aist for the first time or compiling the source. Please check here for detailed installation method and kind of option package.

How to use apt-get

(G)Edit source.list

openrtm.org provides a package repository available from apt-get I will. However, since it is not included in the default package repository, It is necessary to change the setting of apt-get.

Add the following line to /etc/apt/sources.list.

 > su
 # vi /etc/apt/sources.list # Edit "sources.list"

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

Added one line of. For "(code name)", specify the code name corresponding to the version of raspbian below.

version	code name
Debian GNU Linux
Debian 7.0	wheezy

The past / current version / codename of Raspbian can be checked from http://www.raspberrypi.org/downloads.

(G)Installation with apt-get

Follow the procedure below to install. On the way, you will be asked for some responses, so please complete with y .

 # apt-get update
 # apt-get install gcc g++ make uuid-dev
 # apt-get install libomniorb4-1 libomniorb4-dev omniidl omniorb-nameserver
 # apt-get install openrtm-aist openrtm-aist-doc openrtm-aist-dev openrtm-aist-example

If you want to keep installed version of OpenRTM - aist as it is, edit /etc/apt/preferences and add the following line. (In this example, version is fixed to 1.1 series.)

 Package: OpenRTM-aist
 Pin: version 1.1.*

For details, refer to the following. http://www.debian.org/doc/manuals/apt-howto/ch-apt-get.ja.html#s-pin

(G)Confirm installation

Confirm the installation.

 pi@raspberrypi ~ $ dpkg -l 'openrtm*'
 Request = (U)unknown / (I)installation / (R)delete / (P)complete delete / (H)hold
 (H)Semi-install / (W)Wait for trigger / (T)Trigger on hold (N)No / (I)Installed / (C)Setting / (U)Expanding /
 | / Error? = (Blank)No / (R)Required reinstallation (status, error capital letter = abnormal)
 || / Name                  Version        Architecture description
 +++-=====================-===============-===============-=======================
 ii  openrtm-aist          1.1.0-0         armhf           OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm-aist-dev      1.1.0-0         armhf           OpenRTM-aist headers for development
 ii  openrtm-aist-doc      1.1.0-0         all             Documentation for openrtm-aist
 ii  openrtm-aist-example  1.1.0-0         armhf           OpenRTM-aist examples

(G)Package details

The contents of each package are as follows.

(G)openrtm-aist

openrtm - aist contains a runtime library and commands.

Command
```
 /usr/bin/rtcd
 /usr/bin/rtm-naming
```

Licensing etc.

 /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

Configuration file sample
```
 /usr/etc/rtc.conf.sample
```

Library

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

(G)openrtm-aist-dev

Openrtm - aist - dev contains commands and headers necessary for development.

Command

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

Licensing etc.

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

Header

 /usr/include/openrtm-1.1/rtm/DefaultPeriodicTask.h
 /usr/include/openrtm-1.1/rtm/OutPortPullConnector.h
 Omission
 /usr/include/openrtm-1.1/rtm/ExecutionContextBase.h
 /usr/include/openrtm-1.1/rtm/Manager.h
 /usr/include/coil-1.1/coil/OS.h
 /usr/include/coil-1.1/coil/UUID.h
 Omission
 /usr/include/coil-1.1/coil/Properties.h

Library · others

 /usr/lib/openrtm-1.1/py_helper/cxx_svc_impl.py
 /usr/lib/openrtm-1.1/py_helper/profile_gen.py
 Omission
 /usr/lib/openrtm-1.1/py_helper/gen_base.py
 /usr/lib/openrtm-1.1/py_helper/yat.py
 /usr/lib/pkgconfig/libcoil.pc
 /usr/lib/pkgconfig/libRTM.pc

(G)openrtm-aist-example

openrtm-aist-example contains samples of standalone RTC, loadable RTC and source of sample RTC.

Sample (stand-alone RTC)

 /usr/share/openrtm-1.1/examples/ConsoleOutComp
 /usr/share/openrtm-1.1/examples/ConsoleInComp
 Omission

Sample (source)

 /usr/share/openrtm-1.1/examples/src/Composite/README.Motor
 /usr/share/openrtm-1.1/examples/src/Composite/Makefile.Sensor
 /usr/share/openrtm-1.1/examples/src/Composite/Motor.cpp
 Omission
 /usr/share/openrtm-1.1/examples/src/SimpleService/Makefile.MyServiceProvider
 /usr/share/openrtm-1.1/examples/src/SimpleService/rtc.conf

Sample (Loadable RTC)

 /usr/share/openrtm-1.1/example/rtc/MyServiceConsumer.so.0.0.0
 /usr/share/openrtm-1.1/example/rtc/SeqIn.so.0.0.0
 Omission
 /usr/share/openrtm-1.1/example/rtc/ConfigSample.so.0.0.0
 /usr/share/openrtm-1.1/example/rtc/ConsoleOut.so.0.0.0

License etc.

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

(G)openrtm-aist-doc

openrtm-aist-doc contains Japanese and English class reference, IDL interface definition reference.

Class Reference

 /usr/share/openrtm-1.1/doc/ClassReference/html/ConnectorBase_8h_source.html
 /usr/share/openrtm-1.1/doc/ClassReference/html/RTC_8h.html
 Omission
 /usr/share/openrtm-1.1/doc/ClassReference/html/FactoryInit_8h_source.html

IDL reference

 /usr/share/openrtm-1.1/doc/IDLReference/html/BasicDataType_8idl_source.html
 Omission
 /usr/share/openrtm-1.1/doc/IDLReference/html/interfaceOpenRTM_1_1InPortCdr-members.html

Class Reference (English)

 /usr/share/openrtm-1.1/doc/ClassReference-en/html/ConnectorBase_8h_source.html
 /usr/share/openrtm-1.1/doc/ClassReference-en/html/RTC_8h.html
 Omission
 /usr/share/openrtm-1.1/doc/ClassReference-en/html/FactoryInit_8h-source.html

IDL Reference (English)

 /usr/share/openrtm-1.1/doc/IDLReference-en/html/BasicDataType_8idl_source.html
 /usr/share/openrtm-1.1/doc/IDLReference-en/html/structRTC_1_1FsmProfile.html
 Omission
 /usr/share/openrtm-1.1/doc/IDLReference-en/html/interfaceOpenRTM_1_1InPortCdr-members.html

License etc.

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

RT-Component	152
RT-Middleware	33
Tools	22
Documentation	2

OpenRTM-aist