• Vine Linux batch installation script
• Using rpm
  • Editing sources.list
  • Checking the install
• Package details
  • OpenRTM-aist
  • OpenRTM-aist-devel
  • OpenRTM-aist-doc
  • OpenRTM-aist-example

There are two methods of installation available:

• Use the provided install script.
• Install via the apt-get package manager.

Vine Linux batch installation script

Download the installation script pkg_install [version number] _vine.sh provided by openrtm.org from the download page and execute it with root privilege. This script installs required packages sequentially with apt-get.

• Package installation script

It is very convenient because it installs all necessary packages for developing and executing OpenRTM-aist. It is recommended for those who try installing OpenRTM-aist for the first time. However, since all the packages related to OpenRTM - aist are installed, there is a possibility that even unnecessary ones are installed. If you know more, you should install it manually. Below is the installation procedure using the batch installation script.

 > wget [pkg_installXXX.sh download URL]
 > su
 # sh pkg_install1XX_vine.sh
 // Questions will be asked during the procedure. Answer "y" or "Y" when appropriate.

Using rpm

Editing sources.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:

 rpm http://www.openrtm.org/pub/Linux/Vine/apt x.x/$(ARCH) main

where "x.x" is the Vine version number, e.g. 5.0 for Vine 5.0.

 rpm http://www.openrtm.org/pub/Linux/Vine/apt 5.0/$(ARCH) main

After editing sources.list, follow the procedure given below to install.

 > su
 # apt-get update
 # apt-get install gcc-c++ python
 # apt-get install omniORB omniORB-devel omniORB-servers omniORB-doc
 # apt-get install e2fsprogs e2fsprogs-devel
 # apt-get install OpenRTM-aist OpenRTM-aist-devel OpenRTM-aist-doc OpenRTM-aist-example

Answer "y" or "Y" to questions as appopriate.

Checking the install

To confirm the installation succeeded, use the following command.

 # rpm -q OpenRTM-aist
 OpenRTM-aist-1.0.0-0.vl50

Package details

OpenRTM-aist

openrtm-aistcontains 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 the commands and headers necessary for development 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