The Orocos User's Manual
Contents
1. 10 2 Detailed Configuration using CMake 12 2 1 Real Time Toolkit Build Configuration coocoonnccccnonccinnnnnnnnnncinnncnnn 12 2 2 Configuring the target Operating System ooocccncccnocncooncnonnnannnnnnnons 13 2 3 Setting Build Compiler Flags msi pessoa SA vaetecnen 14 2 4 Building for RTATLEXRTE asia a eee 14 2 5 Building for Xenomai version 2 2 0 or newer 15 2 0 Configuring for CORBA cuca 16 5 Getting Started With the A ES 18 JAA guek RESUS oe ater Sic lect cel ate e a oa Sah led E E AA 18 3 2 What about main ooooooncccnnnnnooononnnonocnononannononononcononannn nn nnncncononnnns 19 3 3 Building components and applications ooooonoccnnccnnonnnioncnonnnannnnnnos 19 34 Headet Files OVEVIEW ii A A 21 4 Cross Compiling DESEOS states sad a dada a e o daar 21 111 List of Figures Tal Otocos LID ai A A ee E Oui eee 1 12 Orocos Real Time Toolkit sda a a a aaa Gad 4 1 3 Orocos Control Component Interface q gpa is DA Ss ea Bat cross 5 1 4 Orocos Control Component State Machines 6 iv List of Tables 2 1 Build Requirements 2 2 Header Files List of Examples 2 1 A Makefile for an Orocos Application or Component vi Chapter 1 Orocos Overview This document gives an application oriented overview of Orocos http www orocos org the Open RObot COntrol Software project 1 What is Orocos2. Orocos is the acronym of the Open Robot Control Software http www orocos org project The project s aim is to develop a general purpose free software and modular framework for robotand machine control The Orocos project supports 4 C libraries the Real Time Toolkit the Kinematics and Dynamics Library the Bayesian Filtering Library and the Orocos Component Library RealTime Toolkit Components for Control Kinematics Bayesian Dynamics Filtering Library Library Figure 1 1 Orocos Libraries e The Orocos Real Time Toolkit RTT is not an application in itself but it provides the infrastructure and the functionalities to build robotics applications in C The emphasis is on real time on line interactive and component based applications e The Orocos Components Library OCL provides some ready to use control components Both Component management and Components for control and hardware access are available e The Orocos Kinematics and Dynamics Library KDL is a C library which allows to calculate kinematic chains in real time e The Orocos Bayesian Filtering Library BFL provides an application independent framework for inference in Dynamic Bayesian Networks i e recursive Orocos Overview information processing and estimation algorithms based on Bayes rule such as Extended Kalman Filters Particle Filters Sequential Monte methods etc Orocos is a free software project hence its code and docu
3. rtt dlib hpp C Headers for the experimental Distribution Library which allows embedded systems to use some RTT primitives over a network This directory does not contain such a library but only interface headers rtt 1mpl bpp C Headers for internal use 4 Cross Compiling Orocos This section lists some points of attention when cross compiling Orocos Run plain cmake or ccmake with the following options CC cross gec CXX cross g LD cross ld cmake DCROSS COMPILE cross and substitute the cross prefix with your target tripplet for example with powerpc linux gnu This works roughly when running on Linux stations but is not the official CMake approach For having native cross compilation support you must upgrade to CMake 2 6 0 or later and follow the instructions on the CMake Cross Compiling page http www cmake org Wiki CMake_Cross_Compiling 21
4. I usr realtime include This is the RTAI headers installation directory e Linking L usr realtime lib llxrt for dynamic so linking OR add usr realtime liblxrt a for static a linking i Important You might also need to add usr realtime lib to the etc ld so conf file and rerun Idconfig such that liblxrt so can be found This option is not needed if you configured RTAI with LXRT static inlining 2 5 Building for Xenomai version 2 2 0 or newer N Note For older Xenomai versions consult the Xenomai README of that version Xenomai provides a real time scheduler for Linux applications See the Xenomai home page http www xenomai org Xenomai requires a patch one needs to apply 15 2 5 1 2 5 2 Installing Orocos upon the Linux kernel using the scripts prepare kernel sh script See the Xenomai installation manual When applied one needs to enable the General Setup gt Interrupt Pipeline option during Linux kernel configuration and next the Real Time Sub system gt Xenomai and Nucleus Enable the Native skin Semaphores Mutexes and Memory Heap Finally enable the Posix skin as well When the Linux kernel is built do in the Xenomai directory configure make make install You ll have to specify the install directory in the XENOMAI INSTALL DIR option during ccmake Loading Xenomai The RTT uses the native Xenomai API to address the real time scheduler The Xenomai kernel modules can be fo
5. The RTT KDL and BFL are created by Framework builders 2 Component Builders Components provide a service within an application Using the infrastructure of the framework a Component Builder describes the interface of a service and provides one or more implementations For example a Kinematics Component may be designed as such that it can serve different kinematic architectures Other Orocos Overview examples are Components to hardware devices Components for diagnostics safety or simulation The OCL is created by Component Builders 3 Application Builders These developers use the Orocos Framework and Components and integrate them into one particular application That means that they create a specific application dependent architecture Components are connected and configured as such that they form an application 4 End Users These people use the products of the Application Builders to program and run their particular tasks End Users do not directly belong to the target audience of the Orocos project because Orocos concentrates on the common framework independent of any application architecture Serving the needs of the End Users is left to commercial and non commercial Application Builders 3 Building Orocos Applications Orocos applications are composed of software components which form an application specific network When using Orocos you can choose to use predefined components contributed
6. e Although not a project funded partner the FH Ulm maintains Free CORBA communication patterns for modular robotics Orocos SmartSoft http www tz fh ulm de cschlege orocos This documentation is targeted at industrial robotics and real time control Chapter 2 Installing Orocos This document explains how the Real Time Toolkit of Orocos http www orocos org the Open RObot COntrol Software project must be installed and configured 1 Setting up your Orocos build environment 9 Big Fat Warning We re gradually moving the contents of the installation manual into the wiki Check out the The RTT installation wiki http www orocos org wiki rtt installation for completeness 1 1 Introduction 1 1 1 1 1 2 1 1 3 This sections explains the supported Orocos targets and the Orocos versioning scheme Supported platforms targets Orocos was designed with portability in mind Currently we support RTAI LXRT http www rtai org GNU Linux userspace Xenomai Xenomai org http www xenomai org Mac OS X apple com http www apple com macosx and native Windows using Microsoft Visual Studio So you can first write your software as a normal Linux Mac OS X program using the framework for testing and debugging purposes in plain userspace Linux Mac OS X and recompile later to a real time target or MS Windows The versioning scheme Orocos uses the even stable uneven unstable version numbering scheme
7. just as the Linux kernel A particular version is represented by three numbers separated by dots An even middle number indicates a stable version For example e 1 1 4 Release 1 unstable 1 revision 4 e 1 2 1 Release 1 stable 2 revision 1 This numbering allows to develop and release two kinds of versions where the unstable version is mainly for testing new features and designs and the stable version is for users wanting to run a reliable system Dependencies on other Libraries Before you install Orocos verify that you have the following software installed on your platform Installing Orocos Table 2 1 Build Requirements Program Library Minimum Version Description CMake 2 6 0 all platforms See resources on cmake org http www cmake org cmake resources software html for pre compiled packages in case your distribution does not support this version Boost C Main Library 1 33 0 1 36 0 or newer with MS Visual Studio Boost org www boost org Version 1 33 0 has a very efficient time space lock free smart pointer implementation which is used by Orocos 1 36 0 has boost intrusive which we require on Windows with MSVS http Boost C Test Library 1 33 0 During build only Boost org www boost org library unit test framework is required if you build the RTT from source and BUILD TESTING ON default The RTT libraries don t depend on this library
8. writeData filename isMoving e Commands Are sent by other components to instruct the receiver to reach a goal For example moveTo pos velocity home A command cannot in general be completely executed instantaneously so the caller should not block and wait for its completion But the Command object offers all functionalities to let the caller know about the progress in the execution of the command e Events Allows functions to be executed when a change in the system occurs For example Position Reached Emergency Stop Object Grasped Besides defining the above component communication mechanisms Orocos allows the Component or Application Builder to write hierarchical state machines which use these primitives This is the Orocos way of defining your application specific logic State machines can be un loaded at run time in any component Real Time Communication Peer Components Component Figure 1 4 Orocos Control Component State Machines 4 Related Orocos Projects The Orocos project spawned a couple of largely independent software projects The documentation you are reading is about the Real Time Control Software located on the Orocos org web page The other not real time projects are e At KTH Stockholm several releases have been made for component based robotic systems and the project has been renamed to Orca http orca robotics sourceforge net Orocos Overview
9. ET lt target gt is one of gnulinux Ixrt xenomal macosx win32 When none is specified gnulinux is used e CMAKE INSTALL PREFIX specifies where to install the RTT e LINUX SOURCE DIR is required for RTAI LXRT and older Xenomai version lt 2 2 0 It points to the source location of the RTAI Xenomai patched Linux kernel N Note See Section 2 Detailed Configuration using CMake for specifying non standard include and library paths to search for dependencies The make command will have created a liborocos rtt lt target gt so library and if CORBA is enabled a liborocos rtt corba lt target gt so library The make docapi and make docpdf dochtml both in build commands build API documentation and PDF HTML documentation in the build doc directory Orocos can optionally but recommended be installed on your system with make install The default directory is usr local but can be changed with the CMAKE_INSTALL_PREFIX option cmake DCMAKE_INSTALL_PREFIX opt other If you choose not to install Orocos you can find the build s result in the build sre directory 11 Installing Orocos 2 Detailed Configuration using CMake If you have some of the Orocos dependencies installed in non standard locations you have to specify this using cmake variables before running the cmake configuration Specify header locations using the CMAKE_INCLUDE_PATH variable e g using bash and fink in Mac OS X th
10. TAO build Configuring the RTT for TAO or OMNIORB Orocos RTT defaults to TAO If you want to use the OMNIORB implementation run from your build directory cmake DENABLE_CORBA ON DCORBA_IMPLEMENTATION OMNIORB To specify TAO explicitly or change back use cmake DENABLE_CORBA ON DCORBA_IMPLEMENTATION TAO The RTT will first try to detect your location of ACE and TAO using the ACE_ROOT and TAO_ROOT variables and if these are not set using the standard include paths If TAO or OMNIORB is found you can enable CORBA support ENABLE CORBA within CMake 17 Installing Orocos 2 6 3 Application Development with TAO Once you compile and link your application with Orocos and with the CORBA functionality enabled you must provide the correct include and link flags in your own Makefile if TAO and ACE are not installed in the default path Then you must add e Compiling I path to ACE_wrappers I path to ACE_wrappers TAO I path to ACE_wrappers TAO orbsvcs This is the ACE build directory in case you use OCI s TAO packages This option is not needed if you used your distribution s TAO installation in that case TAO is in the standard include path e Linking L path to ACE_wrappers lib ITAO IACE ITAO_PortableServer ITAO_CosNaming This is again the ACE build directory in case you use OCT s TAO packages The first option is not needed if you used your distribution s TAO installation in that case TAO is in the standar
11. The Orocos User s Manual Open RObot COntrol Software 1 12 1 The Orocos User s Manual Open RObot COntrol Software 1 12 1 Copyright 2002 2003 2004 2005 2006 Herman Bruyninckx Peter Soetens Abstract This document gives an introduction to the Orocos http www orocos org Open RObot COntrol Software project It contains a high level overview of what Orocos aims to offer and the installation manual Orocos Version 1 12 1 Permission is granted to copy distribute and or modify this document under the terms of the GNU Free Documentation License Version 1 1 or any later version published by the Free Software Foundation with no Invariant Sections with no Front Cover Texts and with no Back Cover Texts A copy of this license can be found at http www fsf org copyleft fdl html Table of Contents Ve OROCOS INCL Sega a delete AAO A dla 1 Lo What IS OTOCOS Eudes tel ceed otal util asse ade 1 2r Tatret MCT OS dead ds a 2 3 Building Orocos Applications senado E O 3 A le A e a 4 32 Control Components minis isa so nd ce 5 4 Related Orocos Projects in A E E 6 2 stallis CROCOS quase sata sea aaa Sia aU E Aa 8 1 Setting up your Orocos build environment esse ceeeeeeeeeeeeeneeees 8 Lib Introduccion nore cota een ete Seer einen o ot e na 8 1 2 Basic Real Time Toolkit Installation on Windows like systems a RO QUER A RAS OUR Sagat RR RO A AR 10 1 3 Basic Real Time Toolkit Installation on Unix like systems
12. by the community or build your own component using the Orocos Real Time Toolkit This section introduces both ways of building applications Orocos Overview Control Components Build Applications Control Applications E Build Components Real Time Toolkit C Classes Figure 1 2 Orocos Real Time Toolkit 3 1 Application Templates An Application Template is a set of components that work well together For example the application template for motion control contains components for path planning position control hardware access and data reporting The components are chosen as such that their interfaces are compatible An application template should be so simple that any Orocos user can pick one and modify it hence it is the first thing a new user will encounter An application template should be explainable on one page with one figure explaining the architecture Note An application template has no relation to C templates Orocos Overview 3 2 Control Components Applications are constructed using the Orocos Control Component A distributable entity which has a control oriented interface Component Interface Parameters Alarms Algorithms Setpoints Data streaming Persistent Publish Complex Actions taking Buffered and configuration state changes configuration time unbuffered Figure 1 3 Orocos Control Component Interface A single component may be well capab
13. d library path i Important You also need to add path to ACE_wrappers lib to the etc ld so conf file and rerun ldconfig such that these libraries can be found Or you can before you start your application type export LD_LIBRARY_PATH path to ACE_wrappers lib 3 Getting Started with the Code This Section provides a short overview of how to proceed next using the Orocos Real Time Toolkit 3 1 A quick test To quickly test an Orocos application you can download the examples from the webpage on Component template http www orocos org ocl source which contains a suitable CMake environment for building components or RTT Examples http www orocos org rtt source which contains a variety of demo programs If you built the RTT yourself you can issue a cmake DENABLE TESTS ON make check in the build directory which will test the RTT against your current target 18 Installing Orocos 3 2 What about main The first question asked by many users is How do I write a test program to see how it works Some care must be taken in initialising the realtime environment First of all you need to provide a function int ORO_main int argc char argv defined in lt rtt os main h gt which contains your program include lt rtt os main h gt int ORO_main int argc char argv Your code do not use exit use return to allow Orocos to cleanup system resources If you do not use th
14. e boost library headers are installed in sw include so you would specify export CMAKE INCLUDE PATH sw include boost include For libraries in not default locations use the export CMAKE LIBRARY PATH sw libs boost libs variable For more information see cmake useful variables http www cmake org Wiki CMake Useful VariablestEnvironment Variables link A Important In order to avoid setting these global exports repeatedly the RTT build system reads a file in which you can specify your build environment This file is the orocos rtt cmake file which you obtain by making a copy from orocos rtt 1 12 1 orocos rtt default cmake into the same directory The advantage is that this file lives in the rtt top source directory such that it can be re used across builds Using this file is recommended 2 1 Real Time Toolkit Build Configuration 2 1 1 The RTT can be configured depending on your target For embedded targets the large scripting infrastructure and use of exceptions can be left out When CORBA is available an additional library is built which allows components to communicate over a network In order to configure the RTT in detail you need to invoke the ccmake command cd orocos rtt 1 12 1 build ccmake from your build directory It will offer a configuration screen The keys to use are arrows enter to modify a setting c to run a configuration check may be required multiple times g to generate the makefiles I
15. e target for which you wish to compile If you use parts of the OCL use the flags from orocos ocl gnulinux We strongly recommend reading the Deployment Component http www orocos org ocl deployment manual for building and loading Orocos components into an application These flags must be extended with compile and link options for your particular application Important The LDFLAGS option must be placed after the cpp or o files in the gcc command N Note Make sure you have read Section 2 Detailed Configuration using CMake for your target if you application has compilation or link errors for example when using LXRT 20 Installing Orocos 3 4 Header Files Overview Table 2 2 Header Files Header Summary rtt hpp The Real Time Toolkit directory contains the headers which describe the public API rtt os h rtt os hpp Not intended for normal users The os headers describe a limited set of OS primitives like locking a mutex or creating a thread Read the OS manual carefully before using these headers they are mostly used internally by the RTT rtt dev hpp C Headers for accessing hardware interfaces rtt corba hpp C Headers for CORBA support rtt scripting hpp C Headers for real time scripting Do not include these directly as they are mainly for internal use rtt marsh hpp C Headers for XML configuration and converting data to text and vice versa
16. f an additional configuration check is required the g key can not be used and you must press again c and examine the output RTT with CORBA plugin In order to enable CORBA a valid installation of TAO or OMNIORB must be detected on your system and you must turn the ENABLE_CORBA option on using 12 2 1 2 Installing Orocos ccmake Enabling CORBA does not modify the RTT library and builds and installs an additional library and headers Alternatively you can re run cmake cmake DENABLE CORBA ON See Section 2 6 Configuring for CORBA for full configuration details when using the CORBA transport Embedded RTT flavour In order to run Orocos applications on embedded systems one can turn the OS EMBEDDED option on Next press c again and additional options will be presented which allow you to select what part of the RTT is used By default the OS EMBEDDED option already disables some fat features One can also choose to build the RTT as a static library BUILD STATIC 9 Warning The Embedded flavour is not compatible with the Orocos Component Library OCL and should only be enabled for specific setups and only by users that understand the consequences of this flag Alternatively when you can re run cmake cmake DOS EMBEDDED ON 2 2 Configuring the target Operating System Move to the OROCOS TARGET press enter and type on of the following supported targets all in lowercase e gnulinux e maco
17. g RTT download http WWW orocos org rtt source page for the latest information 1 2 Basic Real Time Toolkit Installation on Windows like systems We documented this on the on line wiki for the various flavours options one has on the MS Windows platform RTT on MS Windows http www orocos org wiki rtt rtt ms windows 1 3 Basic Real Time Toolkit Installation on Unix like systems The RTT uses the CMake http www cmake org build system for configuring and building the library The tool you will need is cmake Most linux distros have a cmake package and so do fink macports in OS X In Debian you can use the official Debian version using apt get install cmake 10 Installing Orocos If this does not work for you you can download cmake from the CMake homepage http www cmake org Next download the orocos rtt 1 12 1 src tar bz2 package from the Orocos webpage and extract it using tar xvjf orocos rtt 1 12 1 src tar bz2 This section provides quick installation instructions 1f you want to install the RTT on a standard GNU Linux system Please check out Section 2 Detailed Configuration using CMake for installation on other OSes and or if you want to change the default configuration settings mkdir orocos rtt 1 12 1 build cd orocos rtt 1 12 1 build cmake DOROCOS TARGET lt target gt DCMAKE_INSTALL_PREFIX usr local DLINUX_SOURCE_DIR usr src linux make make install Where e OROCOS TARG
18. is function it is possible that some OS dependent Orocos functionality will not work 3 3 Building components and applications You can quick start build components using the Orocos Component Template package which you can download from the OCL download page http www orocos org ocl source which uses CMake If you do not wish to use CMake you can use the example below to write your own Makefiles 19 Installing Orocos Example 2 1 A Makefile for an Orocos Application or Component You can compile your program with a Makefile resembling this one OROPATH usr local all myprogram mycomponent so Build a purely RTT application for gnulinux Use the OCL settings below if you use the TaskBrowser or other OCL functionality CXXFLAGS PKG_CONFIG_PATH OROPATH lib pkgconfig pkg config orocos rtt gnulinux cflags LDFLAGS PKG CONFIG PATH OROPATH ib pkgconfig pkg config orocos rtt gnulinux libs myprogram myprogram cpp g myprogram cpp CXXFLAGS LDFLAGS o myprogram Building dynamic loadable components requires the OCL to be installed as well CXXFLAGS PKG_CONFIG_PATH OROPATH lib pkgconfig pkg config orocos ocl gnulinux cflags LDFLAGS PKG CONFIG PATH OROPATH ib pkgconfig pkg config orocos ocl gnulinux libs mycomonent so mycomponent cpp g mycomponent cpp CXXFLAGS LDFLAGS fPIC shared DOCL DLL EXPORT o mycomponent so Where your replace gnulinux with th
19. it is only used for building our unit tests http test Boost C Thread Library 1 33 0 Mac OS X only Boost org http www boost org thread library is required on Mac OS X GNU gcc g Compilers 3 3 0 Linux Cygwin Mac OS X gcc gnu org http gcc gnu org Orocos builds with the GCC 4 x series as well MSVS Compilers 2005 One can download the MS VisualStudio 2008 Express edition for free Xerces C Parser 2 1 Optional Xerces website http xml apache org xerces c Versions 2 1 until 2 6 are Installing Orocos Program Library Minimum Version Description known to work If not found an internal XML parser is used ACE amp TAO TAO 1 3 Optional ACE amp TAO website http www cs wustl edu schmidt When you start your components in a networked environment TAO can be used to set up communication between components CORBA is used as a background transport and is hidden for normal users Omniorb 4 Optional Omniorb website http omniorb sourceforge net Omniorb is more robust and faster than TAO but has less features CORBA is used as a background transport and is hidden for normal users All these packages are provided by most Linux distributions In Mac OS X you can install them easily using fink http www finkproject org or macports http www macports org Take also a look on the Orocos or
20. le of controlling a whole machine or is just a small part in a whole network of components for example an interpolator or kinematic component The components are built with the Real Time Toolkit and optionally make use of any other library like a vision or kinematics toolkit Most users will interface components through their XML properties or command method interface in order to configure their applications There are five distinct ways in which an Orocos component can be interfaced through its properties events methods commands and data flow ports Figure 1 3 Orocos Control Component Interface These are all optional interfaces The purpose and use of these interface types is documented in the Orocos Component Builder s Manual Each component documents its interface as well To get a grip on what these interfaces mean here are some fictitious component interfaces for a Robot Component e Data Flow Ports Are a thread safe data transport mechanism to communicate buffered or un buffered data between components For example JointSetpoints EndEffectorFrame FeedForward Orocos Overview e Properties Are run time modifiable parameters stored in XML files For example Kinematic Algorithm Control Parameters Homing Position ToolType e Methods Are callable by other components to calculate a result immediately just like a C function For example getTrackingError openGripper
21. mentation are released under Free Software licenses Your feedback and suggestions are greatly appreciated Please use the project s mailing list http lists mech kuleuven be mailman listinfo orocos for this purpose 2 Target audience Robotics or machine control in general is a very broad field and many roboticists are pursuing quite different goals dealing with different levels of complexity real time control constraints application areas user interaction etc So because the robotics community is not homogeneous Orocos targets four different categories of Users or in the first place Developers components configuration System Builders Component Builders Application Builders connections middleware Framework Builders 1 Framework Builders These developers do not work on any specific application but they provide the infrastructure code to support applications This level of supporting code is most often neglected in robot software projects because in the rather limited scope of each individual project putting a lot of effort in a generic support platform is often considered to be overkill or even not taken into consideration at all However because of the large scope of the Orocos project the supporting code the Framework gets a lot of attention The hope is of course that this work will pay of by facilitating the developments for the other Builders
22. ntu users use the latter version when they install from deb packages If you need commercial support for any TAO release or seek expert advice on which TAO version or development line to use consult the commercial support website http www cs wustl edu schmidt commercial support html 2 6 1 TAO installation Optional 2 6 2 A Important Debian or Ubuntu users can skip this step and just do sudo aptitude install libtao orbsves dev tao idl gperf ace tao naming Orocos software will automatically detect the installed TAO software E Note If your distribution does not provide the TAO libraries or you want to use the OCI version you need to build manually These instructions are for building on Linux See the ACE and TAO installation manuals for building on your platform Orocos requires the ACE TAO and TAO orbsvcs libraries and header files to be installed on your workstation If you used manual installation the ACE_ROOT and TAO_ROOT variables must be set You need to make an ACE TAO build on your workstation Download the package here OCI Download http www theaceorb com downloads 1 4a index html Unpack the tar ball and enter ACE_wrappers Then do export ACE_ROOT pwd export TAO_ROOT pwd TAO Configure ACE for Linux by doing In s ace config linux h ace config h In s include makeinclude platform linux GNU include makeinclude platform macros GNU Finally type make cd TAO make cd orbsves make This finishes your
23. sx e xenomai e Ixrt e win32 The xenomai and Ixrt targets require the presence of the LINUX SOURCE DIR option since these targets require Linux headers during the Orocos build To use the LibC Kernel headers in usr include linux specify usr Inspect the output to find any errors N Note From Xenomai version 2 2 0 on Xenomai configuration does no longer require the with linux option 13 Installing Orocos 2 3 Setting Build Compiler Flags You can set the compiler flags using the CMAKE BUILD TYPE option You may edit this field to contain e Release e Debug RelWithDebInfo e MinSizeRel e None In case you choose None you must set the CMAKE C FLAGS CMAKE CXX FLAGS manually Consult the CMake manuals for all details 2 4 Building for RTAI LXRT 2 4 1 Read first the Getting Started section from this page http people mech kuleuven be psoetens portingtolxrt html if you are not familiar with RTAI installation Orocos has been tested with RTAI 3 0 3 1 3 2 3 3 3 4 3 5 and 3 6 The last version RTAI 3 6 is recommended for RTAI users You can obtain it from the RTAI home page http www rtai org Read The README files in the rtai directory for detailed build instructions as these depend on the RTAI version RTAI settings RTAI comes with documentation for configuration and installation During make menuconfig make sure that you enable the following options in addition to options you feel
24. und in usr xenomai modules Only the following kernel modules need to be loaded e xeno_hal ko e xeno nucleus ko e xeno native ko in that order For example by executing as root insmod xeno hal ko insmod xeno nucleus ko insmod xeno native ko Compiling Applications with Xenomai Application which use Xenomai as a target need special flags when being compiled and linked Especially e Compiling I usr xenomai include This is the Xenomai headers installation directory e Linking L usr xenomai lib Inative for dynamic so linking OR add usr xenomai libnative a for static a linking i Important You might also need to add usr xenomai lib to the etc ld so conf file and rerun ldconfig such that libnative so can be found automatically 2 6 Configuring for CORBA In case your application benefits from remote access over a network the RTT can be used with The Ace Orb TAO or OMNIORB 4 The RTT was tested with TAO 1 3 x 1 4 x 1 5x and 1 6 x and OMNIORB 4 1 x There are two major TAO development lines One line is prepared by OCI Object Computing Inc http www ociweb com and the other by the DOC group http www dre vanderbilt edu 16 Installing Orocos You can find the latest OCI TAO version on OCI s TAO website http www theaceorb com The DOC group s TAO version can be found on the Real time CORBA with TAO The ACE ORB website http www cs wustl edu schmidt TAO html Debian and Ubu
25. you need for your application e General gt Enable extended configuration mode e Core System gt Native RTAI schedulers gt Scheduler options gt Number of LXRT slots 1000 e Machine gt Enable FPU support e Core System gt Native RTAI schedulers gt IPC support gt Semaphores Fifos Bits or Events and Mailboxes e Add ons gt Comedi Support over LXRT if you intend to use the Orocos Comedi Drivers e Core System gt Native RTAI schedulers gt LXRT scheduler kernel and user space tasks 14 2 4 2 2 4 3 Installing Orocos After configuring you must run make and make install in your RTAI directory make sudo make install After installation RTAI can be found in usr realtime You ll have to specify this directory in the RTAL INSTALL DIR option during ccmake Loading RTAI with LXRT LXRT is a all in one scheduler that works for kernel and userspace So if you use this you can still run kernel programs but have the ability to run realtime programs in userspace Orocos provides you the libraries to build these programs Make sure that the following RTAI kernel modules are loaded e rtai_sem e rtai Ixrt e rtai_hal e adeos depends on RTAI version For example by executing as root modprobe rtai Ixrt modprobe rtai sem Compiling Applications with LXRT Application which use LXRT as a target need special flags when being compiled and linked Especially e Compiling
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