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..^_^