Building from source in Linux

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.

Building the source

The Python edition of OpenRTM-aist uses the distutils module to build, allowing it to be built in a variety of environments.

Supported operating systems and distributions

OpenRTM-aist-Python has been tested and confirmed to work on the following distributions.

  • FreeBSD
  • Vine Linux
  • Fedora
  • Debian
  • Ubuntu

It should be possible to build and use OpenRTM-aist-Python on other versions of Linux/UNIX.

Dependencies

OpenRTM-aist-Python-1.0.0 depends on the folloowing environmental tools and libraries.

  • Python: required to use the build tool.
  • omniORBpy: Needed to compile the IDL files.

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 source

Download the OpenRTM-aist-Python source code from the download page.

Extract the source

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

Build

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

Install

When the build completes successfully, use this command to install:

 $  su
 # python setup.py install

This completes the installation.

Building from the repository

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

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.

Build

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

Making a distributable source package

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:

  • OpenRTM-aist-Python-1.1.0.tar.gz: Generic source (gzipped)
  • OpenRTM-aist-Python-1.1.0.zip: Source for Windows

Download

latest Releases

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Development environment is required for RT-Component development. See download page for details.

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Choreonoid

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OpenHRP3

Dynamics simulator

OpenRTP

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RT-Components collection by AIST

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