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Building from OpenRTM-aist-0.4.2 source for C++ with ORBexpress RT_2.7.1 in Windows　

Requirements

  • Windows XP Professional Service Pack(2).
  • Microsoft Visual Studio 2005 Version 8 (Professional Edition).
  • ACE 5.5 ACE-5.5_vc8.msi.
  • OpenRTM-aist-0.4.2 Release:

Installation

Installing ACE

Download; ACE installer (ACE.msi) from ACE-5.5_vc8.msi link shown above. Open the ACE.msi to start the installation process automatically. To install ACE, follow the instructions directly given by the installer.

This installer does the following:
  • The default directory (install_dir) is C:\Program Files.
  • Copies headers and LIB etc to (install_dir)\ACE_wrappers.
  • Copies ACE.DLL and ACEd.DLL to the Windows system directory (Usually C:\Windows\system32).
  • Set (install_dir)\ACE_wrappers to the environment variable ACE_ROOT.

Installing OpenRTM-aist

Install either Japanese Version OpenRTM-aist-0.4.2-jp_vc8.msi or English Version OpenRTM-aist-0.4.2_vc8.msi. Open the OpenRTM-aist-0.4.2_vc8.msi to start the installation process automatically.To install OpenRTM-aist, follow the instructions guided by the installation wizard.

This installer does the following:

  • The default directory (install_dir) is C:\Program Files.
  • Copies sources, headers, scripts and LIB etc to (install_dir)\OpenRTM-aist.
  • Copies RTMxxx.DLL (xxx is version number) to the Windows system directory (Usually C:\Windows\system32).
  • Set (install_dir)\OpenRTM-aist to the environment variable RTM_ROOT.
  • Register the sample programs to the program directory.
  • Register links of class reference to the program directory.
We recommend that %RTM_ROOT%\bin and %RTM_ROOT%\utils\rtc-template are registered in the Path environment variable when using it on Windows.

OpenRTM-asit-0.4.2 Source code

Download the OpenRTM-asit-0.4.2 source code from OpenRTM-aist-0.4.2-RELEASE-win32.zip and copy it into the your convenient directory.Afer copying just rename as OpenRTM-aist for easy usuage.

  • For example: C:\OpenRTM-aist

Installing ORBexpress RT C++ v2.7.1


  • After downloading ORBexpress RT C++ v2.7.1(x86 Win NT/2000/XP v4.x,5.x / self / Visual C++ v8.0) from Download:ftp://ftp.ois.com/wd2/RT_2.7.1/NZCQFX/,Open the "ORBexpressRT.exe".

  • Extracting Files:
    The ORBexpress Installer starts and the contents of the package are being extracted as shown in the Figure 1.
    Figure 1

oe_extract_process.png


  • Preparing to Install:
    Then after extracting the files the ORBexpress installer starts to prepare the Install Setup which will guide you through the Intallation as show in the Figure 2.
    Figure 2

oe_install_prepare.png


  • Welcome Wizard:
    A Welcome wizard will appear then,click Next to install ORBexpressRT on your computer as shown in the Figure 3.
    Figure 3

oe_install_welcome.png


  • Licensing Agreement:
    Please read the license agreement carefully and check the below items as shown in the Figure 4.
      • I have the authority to bind the Customer to this agreement.
      • I have read and understand this agreement.
      • I hereby agree to all of the terms of this agreement on behalf of the Customer.
      • I additionally agree to personally honor the restrictions set forth in this agreement.
        Figure 4

oe_license_agreement.png


  • Customer Information:
    • Type the User Name and Company Name.
    • Select the user type as "Anyone who uses this computer(all user)".Refer the Figure 5.
      Figure 5

oe_user_information.png


  • Install Destination Location:
    ORBexpress default installation directory is C:\OIS\ORBexpress\. so click Next to install in default directory ,otherwise Browse to change the destination location.Refer the Figure 6.
    Figure 6

oe_install_directory.png


  • Install Type:
    Select the type of install you want,default install type is "Typical". click Next to install in "Typical" setup.Refer the Figure 7.
    Figure 7

oe_install_type.png


  • Setting Review:
    Please confirm the install setting from the wizard.If you like to change the setting click Back otherwise click Next as show in the Figure 8.
    Figure 8

oe_setting_review.png


  • Setup Status:
    Now ORBexpress installs the required files.After 100% complete,the Install Wizard will take to the next screen.Refer Figure 9.
    Figure 9

oe_install_status.png


  • License Key:
    Type the ORBexpress installation key in the ORBexpress RT license key column.Refer the Figure 10.
    Figure 10

oe_license_key.png


  • Licensing:
    After typing the license key,click License,then you can see the message "Successfully licensed file" in the wizard.Please scroll down to check whether all files have been licensed or not as shown in the Figure 11.Then click Continue.
    Figure 11

oe_license_sucess.png


  • Installation Complete:
    The setup had finished the ORBexpressRT installation. Click Finish to successfully complete the install.Refer Figure 12.
    Figure 12

oe_finish.png


How to build OpenRTM-aist using ORBexpressRT

  • After downloading the OpenRTM-aist-0.4.2-RELEASE-win32.zip and copy it into your convenient directory.After copying just rename "OpenRTM-aist-0.4.2-RELEASE-win32.zip" as "OpenRTM-aist" for easy usuage.
      • For example: C:\OpenRTM-aist.
  • 1.Open the folder the OpenRTM-asit.
  • 2.Open the file OpenRTM-aist_vc8.sln.This file will open in Microsoft Visual Studio 2005.
  • 3.To make OpenRTM-asit compatible with ORBexpress several modification is done in the source code of OpenRTM-asit.so to modify the various files go to 技術情報/OpenRTM-aistのORBexpress RT_2.7.1(WindowsXP)対応作業ソースコードの変更点

Debug Mode

  • 1.In OpenRTM-aist_vc8-Microsoft Visual Studio IDE set build mode as "Debug".
  • 2.In OpenRTM-aist_vc8-Microsoft Visual Studio IDE go to Build->Batch build.In the batch build window select "Debug|Win32" for all projects.Then "Rebuild" so that all projects will be rebuild in "Debug" mode.
      • Note:It is always safe to build the project using "Rebuild" option rather than using the "Build" option.
  • 3.Copy the "RTC042d.dll"
    • from:
      • ..\OpenRTM-aist\bin.
    • to:
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceConsumerComp\Debug.
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceProviderComp\Debug.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleInComp\Debug.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleOutComp\Debug.
      • ..\OpenRTM-aist\examples\SeqIO\SeqInComp\Debug.
      • ..\OpenRTM-aist\examples\SeqIO\SeqOutComp\Debug.
      • ..\OpenRTM-aist\examples\ConfigSample\ConfigSampleComp\Debug.
  • 4.Copy the following ORBexpress Dll's
      • OEtcp_rt_full_271_msvcc80_DbExRiSl.dll
      • OEorb_rt_full_271_msvcc80_DbExRiSl.dll
      • OEnames_rt_full_271_msvcc80_DbExRiSl.dll

    • from:
      • ..\OIS\ORBexpress\RT_2.7.1\target\x86_486-winnt_4.0\redist\bin
    • to:
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceConsumerComp\Debug.
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceProviderComp\Debug.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleInComp\Debug.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleOutComp\Debug.
      • ..\OpenRTM-aist\examples\SeqIO\SeqInComp\Debug.
      • ..\OpenRTM-aist\examples\SeqIO\SeqOutComp\Debug.
      • ..\OpenRTM-aist\examples\ConfigSample\ConfigSampleComp\Debug.
  • 5.Create rtc.config File:
    • Make 7 number of rtc.conf file using the below as base data .

 corba.nameservers:iiop:1.0@localhost:2809
 corba.endpoint:localhost:6000
 corba.id:oeORB
 logger.log_level: PARANOID
 naming.formats: %n.rtc

    • While making the the rtc.conf change the corba.end point port(6000)number only.
    • The endpoint number must be different for each rtc.conf file.
    • Example if the first created rtc.conf file has corba endpoint port number as 6000, then change corba endpoint number as 6010 for the second rtc.conf file.Like this create all the rtc.conf files.
    • Copy the created rtc.conf files to the following folders one in each.
    • to:
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceConsumerComp\Debug.
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceProviderComp\Debug.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleInComp\Debug.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleOutComp\Debug.
      • ..\OpenRTM-aist\examples\SeqIO\SeqInComp\Debug.
      • ..\OpenRTM-aist\examples\SeqIO\SeqOutComp\Debug.
      • ..\OpenRTM-aist\examples\ConfigSample\ConfigSampleComp\Debug.
  • 6.Execute & Testing :
    Now you can execute each RTC component and test using the RTC Link.
    Note:
    Please make sure that your using the correct vsprops(visual studio property sheet) for "Debug" mode,because the include and library path for ORBexpress is different in "Debug" and "Release" mode.

    Release Mode

  • 1.In OpenRTM-aist_vc8-Microsoft Visual Studio IDE set build mode as "Release".
  • 2.In OpenRTM-aist_vc8-Microsoft Visual Studio IDE go to Build->Batch build.In the batch build window select "Release|Win32" for all projects.Then "Rebuild" so that all projects will be rebuild in "Release" mode.
      • Note:It is always safe to build the project using "Rebuild" option rather than using the "Build" option.
  • 3.Copy the "RTC042.dll"
    • from:
      • ..\OpenRTM-aist\bin.
    • to:
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceConsumerComp\Release.
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceProviderComp\Release.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleInComp\Release.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleOutComp\Release.
      • ..\OpenRTM-aist\examples\SeqIO\SeqInComp\Release.
      • ..\OpenRTM-aist\examples\SeqIO\SeqOutComp\Release.
      • ..\OpenRTM-aist\examples\ConfigSample\ConfigSampleComp\Release.
  • 4.Copy the following ORBexpress Dll's
      • OEtcp_rt_full_271_msvcc80_ExRiSl.dll
      • OEorb_rt_full_271_msvcc80_ExRiSl.dll
      • OEnames_rt_full_271_msvcc80_ExRiSl.dll

    • from:
      • ..\OIS\ORBexpress\RT_2.7.1\target\x86_486-winnt_4.0\redist\bin
    • to:
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceConsumerComp\Release.
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceProviderComp\Release.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleInComp\Release.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleOutComp\Release.
      • ..\OpenRTM-aist\examples\SeqIO\SeqInComp\Release.
      • ..\OpenRTM-aist\examples\SeqIO\SeqOutComp\Release.
      • ..\OpenRTM-aist\examples\ConfigSample\ConfigSampleComp\Release.
  • 5.Create rtc.config File:
    • Make 7 number of rtc.conf file using the below as base data .

 corba.nameservers:iiop:1.0@localhost:2809
 corba.endpoint:localhost:7000
 corba.id:oeORB
 logger.log_level: PARANOID
 naming.formats: %n.rtc

    • While making the the rtc.conf change the corba.end point port(7000)number only.
    • The endpoint number must be different for each rtc.conf file.
    • Example if the first created rtc.conf file has corba endpoint port number as 7000, then change corba endpoint number as 7010 for the second rtc.conf file.Like this create all the rtc.conf files.
    • Copy the created rtc.conf files to the following folders one in each.
    • to:
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceConsumerComp\Release.
      • ..\OpenRTM-aist\examples\SimpleService\MyServiceProviderComp\Release.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleInComp\Release.
      • ..\OpenRTM-aist\examples\SimpleIO\ConsoleOutComp\Release.
      • ..\OpenRTM-aist\examples\SeqIO\SeqInComp\Release.
      • ..\OpenRTM-aist\examples\SeqIO\SeqOutComp\Release.
      • ..\OpenRTM-aist\examples\ConfigSample\ConfigSampleComp\Release.
  • 6.Execute & Testing :
    Now you can execute each RTC component and test using the RTC Link.
    Note:
    Please make sure that your using the correct vsprops(visual studio property sheet) for "Release" mode,because the include and library path for ORBexpress is different in "Release" and "Debug" mode.

    How to build USBCamera Component

  • 1.Open the folder the ..\OpenRTM-aist\examples\USBCamera.
  • 2.Open the file USBCamera_vc8.sln.This file will open in Microsoft Visual Studio 2005.
  • 3.A small modification is required for the USBCamera RTC component to make compatible with ORBexpress. In the USBCameraMonitor.cpp file m_in is datatype of TimedOctetSeq.Before assinging the value 0 to m_in.data it should be cast as TimedOctetSeq.so the code should look below durign assinging Zero to m_in.data
  #if ORB_IS_OE 
  m_in.data =  TimedOctetSeq::_data_seq(0);
  #else
  m_in.data =0;
  #endif

Debug Mode

  • 1.In USBCamera_vc8-Microsoft Visual Studio IDE set build mode as "Debug".
  • 2.In USBCamera_vc8-Microsoft Visual Studio IDE go to Build->Batch build.In the batch build window select "Debug|Win32" for all projects.Then "Rebuild" so that all projects will be rebuild in "Debug" mode.
      • Note:It is always safe to build the project using "Rebuild" option rather than using the "Build" option.
  • 3.Copy the "RTC042d.dll"
    • from:
      • ..\OpenRTM-aist\bin.
    • to:
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraAcquireComp\Debug.
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraMonitorComp\Debug.
  • 4.Copy the following ORBexpress Dll's
      • OEtcp_rt_full_271_msvcc80_DbExRiSl.dll
      • OEorb_rt_full_271_msvcc80_DbExRiSl.dll
      • OEnames_rt_full_271_msvcc80_DbExRiSl.dll

    • from:
      • ..\OIS\ORBexpress\RT_2.7.1\target\x86_486-winnt_4.0\redist\bin
    • to:
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraAcquireComp\Debug.
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraMonitorComp\Debug.
  • 5.Create rtc.config File:
    • Make 2 number of rtc.conf file using the below as base data .

 corba.nameservers:iiop:1.0@localhost:2809
 corba.endpoint:localhost:8000
 corba.id:oeORB
 logger.log_level: PARANOID
 naming.formats: %n.rtc

    • While making the the rtc.conf change the corba.end point port(8000)number only.
    • The endpoint number must be different for each rtc.conf file.
    • Example if the first created rtc.conf file has corba endpoint port number as 8000, then change corba endpoint number as 8010 for the second rtc.conf file.Like this create the rtc.conf files.
    • Copy the created rtc.conf files to the following folders one in each.
    • to:
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraAcquireComp\Debug.
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraMonitorComp\Debug.
  • 6.Execute & Testing :
    Now you can execute each RTC component and test using the RTC Link.
    Note:
    Please make sure that your using the correct vsprops(visual studio property sheet) for "Debug" mode,because the include and library path for ORBexpress is different in "Debug" and "Release" mode.

    Release Mode

  • 1.In USBCamera_vc8-Microsoft Visual Studio IDE set build mode as "Release".
  • 2.In USBCamera_vc8-Microsoft Visual Studio IDE go to Build->Batch build.In the batch build window select "Release|Win32" for all projects.Then "Rebuild" so that all projects will be rebuild in "Release" mode.
      • Note:It is always safe to build the project using "Rebuild" option rather than using the "Build" option.
  • 3.Copy the "RTC042.dll"
    • from:
      • ..\OpenRTM-aist\bin.
    • to:
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraAcquireComp\Release.
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraMonitorComp\Release.
  • 4.Copy the following ORBexpress Dll's
      • OEtcp_rt_full_271_msvcc80_ExRiSl.dll
      • OEorb_rt_full_271_msvcc80_ExRiSl.dll
      • OEnames_rt_full_271_msvcc80_ExRiSl.dll

    • from:
      • ..\OIS\ORBexpress\RT_2.7.1\target\x86_486-winnt_4.0\redist\bin
    • to:
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraAcquireComp\Release.
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraMonitorComp\Release.
  • 5.Create rtc.config File:
    • Make 2 number of rtc.conf file using the below as base data .

 corba.nameservers:iiop:1.0@localhost:2809
 corba.endpoint:localhost:8500
 corba.id:oeORB
 logger.log_level: PARANOID
 naming.formats: %n.rtc

    • While making the the rtc.conf change the corba.end point port(8500)number only.
    • The endpoint number must be different for each rtc.conf file.
    • Example if the first created rtc.conf file has corba endpoint port number as 8500, then change corba endpoint number as 8510 for the second rtc.conf file.Like this create the rtc.conf files.
    • Copy the created rtc.conf files to the following folders one in each.
    • to:
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraAcquireComp\Release.
      • ..\OpenRTM-aist\examples\USBCamera\USBCameraMonitorComp\Release.
  • 6.Execute & Testing :
    Now you can execute each RTC component and test using the RTC Link.
    Note:
    Please make sure that your using the correct vsprops(visual studio property sheet) for "Release" mode,because the include and library path for ORBexpress is different in "Release" and "Debug" mode.

    Revision History

  • スレス クマル 2008年06月20日.

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