For distributions that do not yet have a pre-built package available, or for users who wish to alter the OpenRTM-aist source themselves, it is possible to build OpenRTM-aist from source.
The Python edition of OpenRTM-aist uses the distutils module to build, allowing it to be built in a variety of environments.
OpenRTM-aist-Python has been tested and confirmed to work on the following distributions.
It should be possible to build and use OpenRTM-aist-Python on other versions of Linux/UNIX.
OpenRTM-aist-Python-1.0.0 depends on the folloowing environmental tools and libraries.
Install these dependencies according to their individual documentations. Installing them into standard locations such as /usr and /usr/local will make compiling OpenRTM-aist-Python easier.
Download the OpenRTM-aist-Python source code from the download page.
Extract the source code from the OpenRTM-aist-Python-X.X.X.tar.gz file into a suitable location.
$ tar xvzf OpenRTM-aist-Python-X.X.X.tar.gz $ cd OpenRTM-aist-Python-X.X.X
OpenRTM-aist uses autotools for building. It can be built in the same way as any other distutils-based package.
$ python setup.py build [options]
The usable options are listed in the help:
$ python setup.py --help
When the build completes successfully, use this command to install:
$ su # python setup.py install
This completes the installation.
The OpenRTM-aist-Python source code is stored in a publicly-available Subversion repository. This source code can be checked out and built.
Checkout the source from the repository as below.
$ svn co http://www.openrtp.jp/openrtm/svn/OpenRTM-aist-Python/trunk/OpenRTM-aist-Python A OpenRTM-aist-Python/OpenRTM_aist A OpenRTM-aist-Python/OpenRTM_aist/CorbaPort.py A OpenRTM-aist-Python/OpenRTM_aist/__init__.py A OpenRTM-aist-Python/OpenRTM_aist/Guard.py A OpenRTM-aist-Python/OpenRTM_aist/RTM_IDL A OpenRTM-aist-Python/OpenRTM_aist/RTM_IDL/RTC.idl A OpenRTM-aist-Python/OpenRTM_aist/RTM_IDL/Manager.idl ... A OpenRTM-aist-Python/installer/WixUI_es-es.wxl A OpenRTM-aist-Python/installer/WixUI_fr-fr.wxl A OpenRTM-aist-Python/installer/WixUI_de-de.wxl A OpenRTM-aist-Python/installer/WixUI_cs-cz.wxl A OpenRTM-aist-Python/installer/WixUI_da-dk.wxl Checked out revision 349.
After checking out, a directory called OpenRTM-aist-Python will have been created. Change to this directory.
$ ls OpenRTM-aist-Python $ cd OpenRTM-aist-Python $ ls MANIFEST.in OpenRTM-aist.pth README setup.py MANIFEST_examples.in OpenRTM_aist/ installer/
Use setup.py to build and install.
$ python setup.py build
By executing the command shown below, a source package such as those available at openrtm.org can be created. In order to make a distribution package, some additional tools are necessary, such as doxygen, latex, and qkc.
$ python setup.py sdist
$ ls -l dist/OpenRTM-aist-Python-* -rw-rw-r-- 1 openrtm openrtm 2721202 2月 24 16:43 OpenRTM-aist-Python-1.1.0.tar.gz -rw-rw-r-- 1 openrtm openrtm 4686452 2月 24 16:43 OpenRTM-aist-Python-1.1.0.zip
The following packages are created: