(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.
At the moment the version of Raspbian that package is available
です。
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
The installation method of OpenRTM - aist can roughly be divided into the following two installation methods.
Please install according to your preference.
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.
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
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.
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
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
The contents of each package are as follows.
openrtm - aist contains a runtime library and commands.
/usr/bin/rtcd /usr/bin/rtm-naming
/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
/usr/etc/rtc.conf.sample
/usr/lib/libRTC.la /usr/lib/libRTC.so /usr/lib/libRTC-X.X.X.so.X /usr/lib/libRTC-X.X.X.so
Openrtm - aist - dev contains commands and headers necessary for development.
/usr/bin/rtc-template /usr/bin/rtm-config /usr/bin/rtm-skelwrapper
/usr/share/doc/openrtm-aist-dev/changelog.gz /usr/share/doc/openrtm-aist-dev/copyright /usr/share/doc/openrtm-aist-dev/changelog.Debian.gz
/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
/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
openrtm-aist-example contains samples of standalone RTC, loadable RTC and source of sample RTC.
/usr/share/openrtm-1.1/examples/ConsoleOutComp /usr/share/openrtm-1.1/examples/ConsoleInComp Omission
/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
/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
/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 contains Japanese and English class reference, IDL interface definition 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
/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
/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
/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
/usr/share/doc/openrtm-aist-doc/changelog.gz /usr/share/doc/openrtm-aist-doc/copyright /usr/share/doc/openrtm-aist-doc/changelog.Debian.gz