Build ACE and TAO in Visual Studio. Change ace/config-win32.h in the folder where ACE + TAO.zip has been expanded to ace/config.h. Next, open the ACE_wrappers_vc12.sln (or ACE_wrappers_vc14.sln, ACE_wrappers_vs2017.sln) in Visual Studio and build it with the following environment variables set.
Move to the checked out folder (OpenRTM-aist) and execute the following command.
Edit mk/platforms/arm_win32_vs_14.mk in the folder where you expanded omniORB-4.2.2.tar.bz2. If the version of Visual Studio you use is different, please select the one that is appropriate. Specify the Python directory as follows.
PYTHON = /cygdrive/c/Python27/python
Next, edit config/config.mk. Specify the corresponding mk file as follows. Please correspond as appropriate when the version of Visual Studio is different.
platform = arm_win32_vs_14
For cross compiling, prepare executable files such as idl compiler which can operate in the development environment. Please obtain the binary of omniORB which was built for x86 from the following.
Please copy the contents of bin / x86_win32 in the folder where you unzipped the zip file to bin/x86_win32 in the folder where you expanded omniORB - 4.2.2.tar.bz2.
Move to the directory where omniORB-4.2.2.tar.bz2 is expanded and execute the following command.
set PATH=C:\cygwin64\bin;%PATH%;
call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_arm
cd src
make export
This will create an executable file in bin / ARM_win32 and a library in lib / ARM_win32. For vcvarsall.bat, please use the version that is appropriate for the version of Visual Studio. For Visual Studio 2017 it will be C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Auxiliary\Build\vcvarsall.bat.
The build of OpenRTM-aist is almost the same as usual. Please specify the compiler for ARM as cmake's option Visual Studio 14 2015 ARM.
You can not build it unless ARM compiler is installed in Visual Studio. If you do not have an ARM compiler installed, please start Visual Studio Installer and install Visual Studio C ++ Compiler and Library for ARM.
(G)Ubuntu + omniORB
svn co http://svn.openrtm.org/OpenRTM-aist/trunk/OpenRTM-aist/
cd OpenRTM-aist/
mkdir src/lib/coil/common/coil
cp src/lib/coil/common/*.* src/lib/coil/common/coil/
cp build/yat.py utils/rtm-skelwrapper/
mkdir build_linux
cd build_linux/
cmake -DOMNI_VERSION=41 -DCORBA=omniORB ..
make
Variable name
Meaning
Value that can be set
OMNI_VERSION
omniORB version
40, 41, 42
CORBA
CORBA library
omniORB
(G)Ubuntu + TAO
First of all build and install ACE + TAO with the following command.
sudo apt-get install gperf
export ACE_ROOT=${PWD}/ACE_wrappers/build/linux
export TAO_ROOT=${ACE_ROOT}/TAO
export LD_LIBRARY_PATH=$ACE_ROOT/ace:$ACE_ROOT/lib
export INSTALL_PREFIX=/home/openrtm/ace_install
wget http://download.dre.vanderbilt.edu/previous_versions/ACE+TAO-6.4.5.tar.gz
tar xf ACE+TAO-6.4.5.tar.gz
cd ACE_wrappers
mkdir -p build/linux
./bin/create_ace_build build/linux
echo '#include "ace/config-linux.h"' > build/linux/ace/config.h
echo 'include $(ACE_ROOT)/include/makeinclude/platform_linux.GNU' > build/linux/include/makeinclude/platform_macros.GNU
cd build/linux
make
make install
cd TAO
make
make install
Build OpenRTM-aist with the following command.
svn co http://svn.openrtm.org/OpenRTM-aist/trunk/OpenRTM-aist/
cd OpenRTM-aist/
mkdir src/lib/coil/common/coil
cp src/lib/coil/common/*.* src/lib/coil/common/coil/
cp build/yat.py utils/rtm-skelwrapper/
mkdir build_tao
cd build_tao
cmake -DORB_ROOT=$ACE_ROOT -DCORBA=TAO ..
make
(G)VxWorks + omniORB
It is necessary to specify the home directory of Wind River Workbench in advance. Please set the directory where Wind River Workbench is installed to the variable WIND_HOME.
export WIND_HOME=/home/openrtm/WindRiver
It is necessary to build omniORB before building OpenRTM-aist.
wget https://jaist.dl.sourceforge.net/project/omniorb/omniORB/omniORB-4.2.2/omniORB-4.2.2.tar.bz2
tar xf omniORB-4.2.2.tar.bz2
wget http://svn.openrtm.org/omniORB/trunk/vxworks/omniORB-4.2.2-vxworks.patch
patch -p1 -d omniORB-4.2.2 < omniORB-4.2.2-vxworks.patch
cd omniORB-4.2.2
mkdir build
cd build
../configure
make
cd ..
sed -i '1s/^/platform = ${VXWORKS_PLATFORM}\n/' config/config.mk
cd src
make export
However, please be sure to enter VXWORKS_PLATFORM according to your operating environment.
VXWORKS_PLATFORM
CPU
VxWorks version
Implementation method
powerpc_vxWorks_kernel_6.6
PowerPC
6.6
Kernel module
powerpc_vxWorks_RTP_6.6
PowerPC
6.6
RTP
powerpc_vxWorks_kernel_6.9
PowerPC
6.9
kernel module
powerpc_vxWorks_RTP_6.9
PowerPC
6.9
RTP
simlinux_vxWorks_kernel_6.6
simulator on Linux
6.6
kernel module
simpentium_vxWorks_RTP_6.6
Simulator on Linux
6.6
RTP
simlinux_vxWorks_kernel_6.9
simulator on Linux
6.9
kernel module
simpentium_vxWorks_RTP_6.9
Simulator on Linux
6.9
RTP
(G)OpenRTM-aist
Please enter the following command.
svn co http://svn.openrtm.org/OpenRTM-aist/trunk/OpenRTM-aist/
cd OpenRTM-aist/
mkdir src/lib/coil/common/coil
cp src/lib/coil/common/*.* src/lib/coil/common/coil/
cp build/yat.py utils/rtm-skelwrapper/
mkdir build_vxworks
cd build_vxworks/
cmake -DCMAKE_TOOLCHAIN_FILE=${TOOLCHAIN_FILE} -DVX_VERSION=${VX_VERSION} -DORB_ROOT=${ORB_ROOT} -DOMNI_VERSION=42 -DCORBA=omniORB -DVX_CPU_FAMILY=${ARCH} ..
make
However, make the following settings for TOOLCHAIN_FILE, VX_VERSION, ORB_ROOT, ARCH.
TOoolCHAIN_FILE
../Toolchain-vxworks6.6-Linux.cmake, for VxWorks 6.6 (kernel module, PowerPC), ../ Toolchain-vxworks6.cmake
(G)Windows + omniORB
Please install TortoiseSVN from the following.
Please obtain the OpenRTM-aist source code from the following.
Please obtain the already built omniORB from the following.
Move to the checked out folder (OpenRTM - aist) and execute the following command.
(G)Windows + TAO
Please install TortoiseSVN from the following.
Please obtain the OpenRTM-aist source code from the following.
Please download ACE + TAO.zip from below.
Build ACE and TAO in Visual Studio. Change ace/config-win32.h in the folder where ACE + TAO.zip has been expanded to ace/config.h. Next, open the ACE_wrappers_vc12.sln (or ACE_wrappers_vc14.sln, ACE_wrappers_vs2017.sln) in Visual Studio and build it with the following environment variables set.
Move to the checked out folder (OpenRTM-aist) and execute the following command.
(G)Windows 10 IoT + omniORB
Built-in binary files for omniORB's Windows 10 IoT are currently not distributed, so you need to build them yourself. Cygwin installation is required.
Get source code of omniORB.
Please expand omniORB - 4.2.2.tar.bz2 to a suitable place.
First apply the patch for ARM + Windows. Please obtain a patch from below.
Execute the following command on Cygwin.
Edit mk/platforms/arm_win32_vs_14.mk in the folder where you expanded omniORB-4.2.2.tar.bz2. If the version of Visual Studio you use is different, please select the one that is appropriate. Specify the Python directory as follows.
Next, edit config/config.mk. Specify the corresponding mk file as follows. Please correspond as appropriate when the version of Visual Studio is different.
For cross compiling, prepare executable files such as idl compiler which can operate in the development environment. Please obtain the binary of omniORB which was built for x86 from the following.
Please copy the contents of bin / x86_win32 in the folder where you unzipped the zip file to bin/x86_win32 in the folder where you expanded omniORB - 4.2.2.tar.bz2.
Move to the directory where omniORB-4.2.2.tar.bz2 is expanded and execute the following command.
This will create an executable file in bin / ARM_win32 and a library in lib / ARM_win32. For vcvarsall.bat, please use the version that is appropriate for the version of Visual Studio. For Visual Studio 2017 it will be C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Auxiliary\Build\vcvarsall.bat.
The build of OpenRTM-aist is almost the same as usual. Please specify the compiler for ARM as cmake's option Visual Studio 14 2015 ARM.
You can not build it unless ARM compiler is installed in Visual Studio. If you do not have an ARM compiler installed, please start Visual Studio Installer and install Visual Studio C ++ Compiler and Library for ARM.
(G)Ubuntu + omniORB
(G)Ubuntu + TAO
First of all build and install ACE + TAO with the following command.
Build OpenRTM-aist with the following command.
(G)VxWorks + omniORB
It is necessary to specify the home directory of Wind River Workbench in advance. Please set the directory where Wind River Workbench is installed to the variable WIND_HOME.
It is necessary to build omniORB before building OpenRTM-aist.
(G)omniORB
Get source code of omniORB.
Execute the build with the following command.
However, please be sure to enter VXWORKS_PLATFORM according to your operating environment.
(G)OpenRTM-aist
Please enter the following command.
For RTP, you need to add -DRTP=ON to the cmake command.
(G)VxWorks + ORBexpress
Currently the corresponding environment is VxWorks 6.6, PowerPC only.
Please enter the following command.
Please make the following settings for TOOLCHAIN_FILE, ORB_ROOT.