MacOSX + OpenRTM-aist


I build OpenRTM-aist C++ package.


1. Install Xcode
This is unescapable.

2. Xcode->Preference->Install Command Line Tools
git , gcc , these tools are necessary for mac developers.

3. Download and install:
http://www.cmake.org/files/v2.8/cmake-2.8.11.2-Darwin64-universal.dmg
http://sugarsweetrobotics.com/pub/Darwin/doxygen/Doxygen-1.8.3.1.dmg
http://sugarsweetrobotics.com/pub/Darwin/pkgconfig/PkgConfig.dmg
http://sugarsweetrobotics.com/pub/Darwin/OpenRTM-aist/cxx/1.1/OpenRTM-aist-1.1.0-RELEASE.dmg

4. Install C++ version

When installing cmake, command line tools must be installed.
PkgConfig is needed for cmake.
OpenRTM-aist pkg will install binaries into /usr/local.

Then, create .bash_profile and edit it.

RTM_ROOT=/usr/local/include/openrtm-1.1
PYTHONPATH=/usr/local/lib/python2.7/site-packages
PKG_CONFIG_PATH=/usr/local/lib/pkgconfig

If you want to update your environment, command “source ~/.bash_profile”

5. Install tools

Then download eclipse form OpenRTM.org.
You will be asked to install JRE.

6. Python version

Python version must be installed from source codes.

svn co http://svn.openrtm.org/OpenRTM-aist-Python/trunk/OpenRTM-aist-Python/
cd OpenRTM-aist-Python
sudo python setup.py install

Binaries of omniORB is installed with C++ version.

7. Java version

Download Java version:
http://sugarsweetrobotics.com/pub/OpenRTM-aist/OpenRTM-aist-Java-1.1RC1.zip
Environmental Variable “RTM_JAVA_ROOT” should be set OpenRTM-aist-1.1.jar.

8. Install rtshell (python version is needed.)

I recommend to install rtshell tools.

git clone https://github.com/gbiggs/rtctree.git
cd rtctree; sudo python setup.py install

git clone https://github.com/gbiggs/rtsprofile.git
cd rtsprofile; sudo python setup.py install

git clone https://github.com/gbiggs/rtshell.git
cd rtshell; sudo python setup.py install

Then, add following line into .bash_profile

source $HOME/rtm/temp/rtshell/shell_support.in

Without shell_support.in,rtcwd is not executable.

9. RTC development
See official Document

http://openrtm.org/openrtm/en/node/5125