The Orocos Real-Time Toolkit

Quick Installation

The Orocos RTT requires the 'cmake' program to be present, version 2.6.2 or later is required. http://www.cmake.org

Download the latest version from http://www.orocos.org/rtt

tar -xvjf orocos-rtt-<version>-src.tar.bz2
cd orocos-rtt-<version>
mkdir build
cd build
cmake ..
make
make check
make install

The installation manual can be found in the doc dir. You can also consult it online on the http://www.orocos.org website.

Configuring Orocos RTT

Instead of 'cmake ..', issue 'ccmake ..' from your build directory. 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. If an additional configuration check is required, the 'g' key can not be used and you must press 'c' and examine the output.

CORBA

Corba is not enabled by default. If you have ACE/TAO or Omniorb installed, use

cmake .. -DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=TAO or cmake .. -DENABLE_CORBA=ON -DCORBA_IMPLEMENTATION=OMNIORB