deb packages are provided for installing the C++ version of OpenRTM-aist in Ubuntu and Debian. The supported distribution versions are listed on the download page. The corresponding versions may change or be discontinued without notice.
There are two methods of installation available:
Download the installation script pkg_install_ubuntu.sh or pkg_install_debian.sh provided by openrtm.org from the download page and execute it with root privilege. This script installs required packages sequentially with apt-get.
By specifying the option, you can now install the package according to your purpose, It is also recommended for those who try to install OpenRTM-aist for the first time and compile the source.
Please check here for detailed installation method and kind of option package.
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:
deb http://www.openrtm.org/pub/Linux/ubuntu/ (code name) main
deb http://www.openrtm.org/pub/Linux/debian/ (code name) main
"(code name)" should be the release name of your distribution version, as shown below.
Version | code name |
Debian GNU Linux | |
Debian 7.0 | wheezy |
Debian 8.0 | jessie |
Debian 9.0 | stretch |
Ubuntu | |
Ubuntu 14.04 LTS | trusty |
Ubuntu 16.04 LTS | xenial |
Ubuntu 16.10 | yakkety |
Ubuntu 17.04 | zesty |
Ubuntun past / current version / codename can be checked from https://wiki.ubuntu.com/Releases.
Follow the procedure given below to install using apt-get. Answer the questions that are presented appropriately using "y".
# apt-get update # apt-get install gcc g++ make uuid-dev # apt-get install libomniorb4 libomniorb4-dev omniidl4 omniorb4-nameserver # apt-get install python-support (Only needed for Debian 3.1 Sarge) # apt-get install openrtm-aist openrtm-aist-doc openrtm-aist-dev openrtm-aist-example
To maintain an installed version of OpenRTM-aist at the currently-installed version, append the following lines to the file "/etc/apt/preferences" (this example illustrates holding at version 1.0):
Package: OpenRTM-aist Pin: version 1.0.*
For more details, see http://www.debian.org/doc/manuals/apt-howto/ch-apt-get.html#s-pin.
Launchpad is a we application and web site ( https://launchpad.net/ ) for open source software development which is developed and managed by Canonical Ltd. PPA (Private Package Archive) is an Ubuntu package repository in Launchpad sites, and you can publish your packages on there.
We also provide OpenRTM-aist packages for Ubuntu in PPA, and it is freely available. In case you want to publish your RTC on PPA, you can include OpenRTM-aist PPA packages as dependency in your RTC package. Installation of your RTC package would be completed with PPA's OpenRTM-aist packages. This is advantages of using OpenRTM-aist package in PPA.
Installation of PPA's OpenRTM-aist packages are the following.
Installation of PPA's OpenRTM-aist packages is much easier than above mentioned way. At first, please add package repository of OpenRTM-aist at PPA. Repository name is openrtm/stable.
$ sudo add-apt-repository ppa:openrtm/stable
Update package database.
$ sudo aptitude update
Please install packages. OpenRTM-aist packages are consists of openrtm-aist (run-time library), openrtm-aist-dev (header for development), openrtm-aist-doc (documentation) and openrtm-aist-example (example RTCs).
$ sudo aptitude install openrtm-aist1.1 openrtm-aist1.1-dev openrtm-aist1.1-example
That's it.
OpenRTM-aist's PPA repository structure is the following.
Repository name | Description |
ppa:openrtm/stable | Basic repository. Normally users install these pacakges. Naming rule is openrtm-aist[-]{dev,doc,example}: The newest packages openrtm-aistX.Y[-]{dev,doc,example}: Minor version packages. |
ppa:openrtm/unstable | Unstable packages. RC-versions, beta versions and so on. Naming rule is openrtm-aistX.Y.ZrcW[-]{dev,doc,example}: revision/RC-versioned packages. |
To confirm the installation succeeded, use the following command.
$ dpkg -l 'openrtm*' Desired=Unknown/Install/Remove/Purge/Hold | Status=Not/Installed/Config-f/Unpacked/Failed-cfg/Half-inst/t-aWait/T-pend |/ Err?=(none)/Hold/Reinst-required/X=both-problems (Status,Err: uppercase=bad) ||/ Name Version Description +++-==============-==============-============================================ ii openrtm-aist 1.0.0-0 OpenRTM-aist runtime libraries and configura ii openrtm-aist-d 1.0.0-0 Header files for OpenRTM-aist development pn openrtm-aist-d <none> (no description available) ii openrtm-aist-e 1.0.0-0 OpenRTM-aist examples
The packages contain the following files.
openrtm-aist contains the run-time libraries 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-X.X.X.so.X.X.X /usr/lib/libRTC.a /usr/lib/libRTC.la /usr/lib/libRTC.so /usr/lib/libRTC-X.X.X.so.X
openrtm-aist-dev contains the commands and headers necessary for development with OpenRTM-aist.
/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/rtm/DefaultPeriodicTask.h /usr/include/rtm/OutPortPullConnector.h ... /usr/include/rtm/ExecutionContextBase.h /usr/include/rtm/Manager.h /usr/include/coil/OS.h /usr/include/coil/UUID.h ... /usr/include/coil/Properties.h
/usr/lib/OpenRTM-aist/py_helper/cxx_svc_impl.py /usr/lib/OpenRTM-aist/py_helper/profile_gen.py ... /usr/lib/OpenRTM-aist/py_helper/gen_base.py /usr/lib/OpenRTM-aist/py_helper/yat.py /usr/lib/pkgconfig/libcoil.pc /usr/lib/pkgconfig/libRTM.pc
openrtm-aist-example contains standalone and loadable sample RT Components and their source files.
/usr/share/OpenRTM-aist/examples/ConsoleOutComp /usr/share/OpenRTM-aist/examples/ConsoleInComp ...
/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
/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
/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 the class reference and IDL interfaces 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
/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
/usr/share/doc/openrtm-aist-doc/changelog.gz /usr/share/doc/openrtm-aist-doc/copyright /usr/share/doc/openrtm-aist-doc/changelog.Debian.gz