Install Orocos on RTAI/LXRT linux system (Ubuntu 8.04)

Today I install Orocos on RTAI system.
There are many errors on the screen. But after I download and install many libraries , finally it is working now.
For Ubuntu 8.04 Hardy system, I did not do this work as
"The OROCOS Real-Time Toolkit Installation Guide " .
They said I should do like:

$ cd src
$ sudo apt-get update
$ apt-get source orocos-rtt
$ sudo apt-get build-dep orocos-rtt
$ sudo apt-get install devscripts build-essential fakeroot dpatch
$ cd orocos-rtt-1.4.0
$ dpkg-buildpackage -rfakeroot -uc -us
$ cd ..
$ for i in *.deb; do sudo dpkg -i $i; done

But I have a problem when I "sudo apt-get build-dep orocos-rtt ". It gives me errors about " 'xenomai". It 's very strange because I use RTAI/LXRT ,not xenomai.

So I change my idea and go the normal way to install it.
1, You should check the RTAI/LXRT setting("The OROCOS Real-Time Toolkit Installation Guide 2.3.1")
2,before you install orocos, make sure you have installed Boost,gcc, xerces,ace&tao,cppunit,cmake
3,download the tar ball from Orocos website.
4, Start install Orocos following "The OROCOS Real-Time Toolkit Installation Guide 1.3.3"

  mkdir orocos-rtt-1.6.0/build
cd orocos-rtt-1.6.0/build
../configure --enable-corba --with-lxrt [--prefix=/usr/local][--with-linux=/usr/src/linux]

5.You will see some error information when you configure it.That's let you know what library you need install.

6.after configure.do:

cmake ..
ccmake ..

cmake is to build makefile in build file. ccmake will let you change some option,like the directory of linux source(/usr/src/linux) and RTAI library(/usr/realtime).. Before you use this ,you should know how to use ccmake.

If there is no errors, you can continue.
7, do:
make
sudo make install

Then that's all.

If you want to install OCL , you should download tar ball with KDL and BFL.
Before installing OCL ,first you should install kdl and bfl. They need more libraris, such as ltilib , readline, docbook, etc..
When you install these library, you should always use "ccmake" to change some configuration about the folder directory or OROCOS_TARGET=LXRT.

SEE more:
http://people.mech.kuleuven.be/~orocos/pub/stable/documentation/rtt/v1.6.x/doc-xml/orocos-installation.html#install-debian

Finally I finished it..^_^

Ubuntu can not shutdown as NetworkManager 's problem

last time when I compiled the kernel, I choose disable ACPI in Power Management ,so that my computer can not shutdown as NetworkManager can not reply the system or using bus to send signal.
I have tried two method:
1,add "acpi=force apm=power_off" to menu.lst
2,disable NetworkManager
It still can not solve the problem.
Afterwards, I find I disable ACPI which has some functional things about managing the power for bus and others. I have a look at the guide book from
RTAI and find I need enable ACPI.

So today I recompiled the kernel and enable it. Now it's working!!!


About how to disable and enable NetworkManager:

sudo /etc/dbus-1/event.d/26NetworkManagerDispatcher stop/start
sudo /etc/dbus-1/event.d/25NetworkManager stop/start

RTAI on Ubuntu 8.04

Today I compile the RTAI on the new computer which has 4 cores.
I find a good tutorial "How to Install RTAI in Ubuntu Hardy" .
I do it by that guided book.
Three parts need to be changed:


1, In the kernel configure menu, I need turn off "cpu idle PM management" and select ACPI and deselect APM).
2,In the RTAI configure menu, I need set"General > Linux source tree =/usr/src/linux".Not the headers directory.
3, Add path" /usr/realtime/bin " to the environment. I need add the command to /home/usrname/.bashrc or /root/.bashrc.(like "export PATH=$PATH:/usr/realtime/bin")

Remove kernel version

Sometime you have two or more kernel version, these versions need more disk space . If you want to save disk space, you need remove them.

For ubuntu, I do:

.deb based distro - Debian or Ubuntu Linux

Again find out all installed kernel version:
$ dpkg --list | grep linux-image
Output:

ii  linux-image-2.6.24-19-generic              2.6.24-19.41                      Linux kernel image for version 2.6.24 on x86
ii  linux-image-2.6.24-21-generic              2.6.24-21.43                      Linux kernel image for version 2.6.24 on x86

Now remove linux-image-2.6.24-19-generic with apt-get command itself:

# apt-get remove linux-image-2.6.24-19-generic

OR

$ sudo apt-get remove linux-image-2.6.24-19-generic

More information is in:

http://www.cyberciti.biz/faq/debian-redhat-linux-delete-kernel-command/

Do update after installing new Ubuntu system

Every time you need install ubuntu system, please remember updating and upgrading your system.

#apt-get update
#apt-get upgrade


If you dont do that, sometimes you can not find new library when you want to "search" or "install" it.