#contents

Windows + omniORB

&aname(windowsomniorb);

Obtain the OpenRTM-aist source code from the following repository.

• https://github.com/OpenRTM/OpenRTM-aist

Download the prebuilt omniORB package from the following location.

• https://openrtm.org/pub/omniORB/win32/

Move to the checked-out OpenRTM-aist directory and execute the following commands.

mkdir build
cd build
cmake -DORB_ROOT=C:/workspace/omniORB-4.2.3-win64-vc141 -G "Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=C:/workspace/openrtminstall ..
cmake --build . --config Release
cmake --build . --config Release --target install

Variable	Description	Available Values
CORBA	CORBA library	omniORB

Windows + TAO

Obtain the OpenRTM-aist source code from the following repository.

• https://github.com/OpenRTM/OpenRTM-aist

Build TAO by following the procedure below.

• Building TAO

Move to the checked-out OpenRTM-aist directory and execute the following commands.

mkdir build
cd build
cmake -DORB_ROOT=C:/workspace/ACE_wrappers -DCORBA=TAO -G "Visual Studio 16 2019" -DCMAKE_INSTALL_PREFIX=C:/workspace/openrtminstall ..
set PATH=%PATH%;C:\workspace\ACE_wrappers\lib;
cmake --build . --config Release
cmake --build . --config Release --target install

Windows 10 IoT + omniORB

Since prebuilt binaries of omniORB for Windows 10 IoT are not currently distributed, you must build omniORB yourself.

Cygwin is required.

• https://www.cygwin.com/

Download the omniORB source code.

• https://sourceforge.net/projects/omniorb/files/omniORB/omniORB-4.2.2/

Extract omniORB-4.2.2.tar.bz2 to an appropriate location.

First, apply the patch for ARM + Windows.

Download the patch from the following location.

• http://svn.openrtm.org/omniORB/trunk/windows/omniORB-4.2.2-windows-iot.patch

Execute the following command in Cygwin.

patch -p1 -d omniORB-4.2.2 < omniORB-4.2.2-windows-iot.patch

Edit mk/platforms/arm_win32_vs_14.mk in the extracted omniORB-4.2.2 directory.

If you are using a different version of Visual Studio, select the corresponding file.

Specify the Python directory as shown below.

PYTHON = /cygdrive/c/Python27/python

Next, edit config/config.mk.

Specify the corresponding mk file as shown below.

If you are using a different version of Visual Studio, modify the setting accordingly.

platform = arm_win32_vs_14

Since cross-compilation is performed, executable tools such as the IDL compiler must be prepared for the development environment.

Download the x86 build of omniORB from the following location.

• http://openrtm.org/pub/omniORB/win32/omniORB-4.2.2/

Copy the contents of bin/x86_win32 from the extracted ZIP archive into bin/x86_win32 of the extracted omniORB-4.2.2.tar.bz2 directory.

Move to the extracted omniORB-4.2.2 directory and execute the following commands.

set PATH=C:\cygwin64\bin;%PATH%;
call "C:\Program Files (x86)\Microsoft Visual Studio 14.0\VC\vcvarsall.bat" x86_arm
cd src
make export

The executable files will be generated in bin/ARM_win32, and the libraries will be generated in lib/ARM_win32.

For vcvarsall.bat, use the version that matches your Visual Studio installation.

For Visual Studio 2017, use:

C:\Program Files (x86)\Microsoft Visual Studio\2017\Community\VC\Auxiliary\Build\vcvarsall.bat

Building OpenRTM-aist is almost the same as the standard procedure.

Specify the ARM compiler using a CMake option such as Visual Studio 14 2015 ARM.

mkdir build
cd build
cmake -DORB_ROOT=C:/workspace/omniORB-4.2.2 -G "Visual Studio 14 2015" -A ARM -DCMAKE_INSTALL_PREFIX=C:/workspace/openrtminstall ..
cmake --build . --config Release
cmake --build . --config Release --target install

If the ARM compiler is not installed in Visual Studio, the build cannot be performed.

If you have not installed the ARM compiler, launch Visual Studio Installer and install ARM Visual Studio C++ Compiler and Libraries.

Ubuntu + omniORB

&aname(ubuntuomniorb);

sudo apt install libomniorb4-dev omniidl omniorb-nameserver
git clone https://github.com/OpenRTM/OpenRTM-aist
cd OpenRTM-aist/
mkdir build
cd build/
cmake -DCMAKE_BUILD_TYPE=Release ..
cmake --build . --config Release -- -j$(nproc)
sudo cmake --build . --config Release --target install

Variable	Description	Available Values
CORBA	CORBA library	omniORB

Ubuntu + TAO

Build TAO by following the procedure below.

• Building TAO

Build OpenRTM-aist with the following commands.

git clone https://github.com/OpenRTM/OpenRTM-aist
cd OpenRTM-aist/
mkdir build
cd build
cmake -DCORBA=TAO -DCMAKE_BUILD_TYPE=Release ..
cmake --build . --config Release -- -j$(nproc)
sudo cmake --build . --config Release --target install

VxWorks + omniORB

The home directory of Wind River Workbench must be specified in advance. Set the directory where Wind River Workbench is installed to the variable WIND_HOME.

export WIND_HOME=/home/openrtm/WindRiver

Before building OpenRTM-aist, you must build omniORB.

omniORB

Download the omniORB source code.

• http://omniorb.sourceforge.net/

Download the patch for VxWorks support in omniORB.

• http://svn.openrtm.org/omniORB/trunk/vxworks/omniORB-4.2.2-vxworks.patch

Build it with the following commands.

wget https://jaist.dl.sourceforge.net/project/omniorb/omniORB/omniORB-4.2.2/omniORB-4.2.2.tar.bz2
tar xf omniORB-4.2.2.tar.bz2
wget http://svn.openrtm.org/omniORB/trunk/vxworks/omniORB-4.2.2-vxworks.patch
patch -p1 -d omniORB-4.2.2 < omniORB-4.2.2-vxworks.patch
cd omniORB-4.2.2
mkdir build
cd build
../configure
make
cd ..
sed -i '1s/^/platform = ${VXWORKS_PLATFORM}\n/' config/config.mk
cd src
make export

However, enter a value for VXWORKS_PLATFORM that matches your operating environment.

VXWORKS_PLATFORM	CPU	VxWorks Version	Implementation Method
powerpc_vxWorks_kernel_6.6	PowerPC	6.6	Kernel module
powerpc_vxWorks_RTP_6.6	PowerPC	6.6	RTP
powerpc_vxWorks_kernel_6.9	PowerPC	6.9	Kernel module
powerpc_vxWorks_RTP_6.9	PowerPC	6.9	RTP
simlinux_vxWorks_kernel_6.6	Simulator on Linux	6.6	Kernel module
simpentium_vxWorks_RTP_6.6	Simulator on Linux	6.6	RTP
simlinux_vxWorks_kernel_6.9	Simulator on Linux	6.9	Kernel module
simpentium_vxWorks_RTP_6.9	Simulator on Linux	6.9	RTP

OpenRTM-aist

Enter the following commands.

git clone https://github.com/OpenRTM/OpenRTM-aist
cd OpenRTM-aist/
mkdir build
cd build/
cmake -DCMAKE_TOOLCHAIN_FILE=${TOOLCHAIN_FILE} -DVX_VERSION=${VX_VERSION} -DORB_ROOT=${ORB_ROOT} -DOMNI_VERSION=42 -DCORBA=omniORB -DVX_CPU_FAMILY=${ARCH} ..
make

However, set TOOLCHAIN_FILE, VX_VERSION, ORB_ROOT, and ARCH as follows.

TOOLCHAIN_FILE	For VxWorks 6.6 (kernel module, PowerPC), use ../Toolchain-vxworks6.6-Linux.cmake. For other cases, use ../Toolchain-vxworks6.cmake.
VX_VERSION	vxworks-6.6 or vxworks-6.9
ORB_ROOT	omniORB directory (example: /home/openrtm/omniORB-4.2.2)
VX_CPU_FAMILY	ppc (PowerPC), simlinux (kernel module, simulator), simpentium (RTP, simulator)

For RTP, you must add -DRTP=ON to the cmake command.

cmake -DCMAKE_TOOLCHAIN_FILE=${TOOLCHAIN_FILE} -DVX_VERSION=${VX_VERSION} -DORB_ROOT=${ORB_ROOT} -DOMNI_VERSION=42 -DCORBA=omniORB -DVX_CPU_FAMILY=${ARCH} -DRTP=ON ..
cmake --build . --config Release

VxWorks + ORBexpress

※ Currently, the supported environment is VxWorks 6.6 and PowerPC only.

Enter the following commands.

git clone https://github.com/OpenRTM/OpenRTM-aist
cd OpenRTM-aist/
mkdir build
cd build/
cmake -DCMAKE_TOOLCHAIN_FILE=${TOOLCHAIN_FILE} -DORB_ROOT=${ORB_ROOT} -DCORBA=ORBexpress ..
make

Set TOOLCHAIN_FILE and ORB_ROOT as follows.

TOOLCHAIN_FILE	For a kernel module, use ../Toolchain-vxworks6.6-Linux.cmake. For RTP, use ../Toolchain-vxworks6.cmake.
ORB_ROOT	ORBexpress directory (example: /home/openrtm/OIS/ORBexpress/RT_2.8.4_PATCH_KC1)

QNX 6.5 + omniORB

Build on QNX 6.5 running on VMWare. Download the ISO image from the following page.

• http://www.qnx.com/download/group.html?programid=16780

pkgsrc

First, install the package management system pkgsrc. Obtain the source code with the following command.

svn checkout --username ユーザ名 --password パスワード http://community.qnx.com/svn/repos/pkgsrc/HEAD_650/pkgsrc

For the username and password, specify the email address and password of your QNX account.

Next, install it with the following commands. Run the commands using su.

(cd pkgsrc/bootstrap && ./bootstrap)
(cd pkgsrc/misc/figlet && ../../bootstrap/work/bin/bmake install)

Set the PKG_PATH environment variable.

export PKG_PATH=ftp://ftp.netbsd.org/pub/pkgsrc/packages/QNX/i386/6.5.0_head_20110826/All/

libuuid

First, build libuuid. Download libuuid-1.0.3.tar.gz and transfer it to QNX.

• https://sourceforge.net/projects/libuuid/files/

Extract the file.

tar xf libuuid-1.0.3.tar.gz

Building libuuid requires sys/syscall.h, bits/syscall.h, asm/unistd.h, and asm/unistd_32.h (or asm/unistd_64.h). Obtain these files and copy them under libuuid-1.0.3.

libuuid-1.0.3
  |-sys
  | |-syscall.h
  |-bits
  | |-syscall.h
  |-asm
  | |-unistd.h
  | |-unistd_32.h(or unistd_64.h)
  |-(omitted)

Build and install it with the following commands.

cd libuuid-1.0.3
./configure
make
make install
cd ..

omniORB

First, obtain omniORB-4.2.3.tar.bz2 and transfer it to QNX.

• https://sourceforge.net/projects/omniorb/files/omniORB/

Extract the file.

tar xf omniORB-4.2.3.tar.bz2

The following files need to be modified.

• configure
• /beforeauto.mk.in

First, two changes are required for configure. Add the following *-*-nto-qnx) line.

case "$host" in
  *-*-linux-*)   plat_name="Linux";    plat_def="<u>linux</u>";    os_v="2";;
  *-*-nto-qnx)   plat_name="Linux";    plat_def="<u>linux</u>";    os_v="2";;

Add the following x86-pc-*) part.

case "$host" in
  i?86-*)   proc_name="x86Processor";     proc_def="__x86__";;
  x86-pc-*) proc_name="x86Processor"; proc_def="__x86__";;

Modify the following part of mk/beforeauto.mk.in.

#OMNITHREAD_LIB += -lpthread #削除
OMNITHREAD_LIB += -lsocket #追加

Build it with the following commands.

./configure
make
make install
cd ..

OpenRTM-aist

Building OpenRTM-aist requires cmake, pkg-config, and Python 2.7.

/usr/pkg/sbin/pkg_add -v pkg-config-0.25nb1
/usr/pkg/sbin/pkg_add -v cmake-2.8.5
/usr/pkg/sbin/pkg_add -v python27-2.7.2

Set the PKG_CONFIG_PATH environment variable.

export PKG_CONFIG_PATH=/usr/local/lib/pkgconfig/

Obtain the OpenRTM-aist source code and transfer it to QNX.

Move to the OpenRTM-aist directory and execute the following commands.

mkdir build
cd build/
ln -s /usr/pkg/bin/python2.7 ./python
export PATH=$PWD:$PATH
cmake -DCORBA=omniORB ..
cmake --build . --config Release -- -j$(nproc)
cmake --build . --target install

QNX 7.0 + omniORB

Install and build using QNX Software Development Platform 7.0 on Ubuntu.

First, install QNX Software Center.

• http://www.qnx.com/download/group.html?programid=29178

sudo apt-get install libgtk2.0-0:i386
chmod a+x qnx-setup-201808201144-lin.run
./qnx-setup-201808201144-lin.run

Launch QNX Software Center and install QNX Software Development Platform from Add Installation.

/home/openrtm/qnx/qnxsoftwarecenter/qnxsoftwarecenter

libuuid

First, build libuuid.

wget https://jaist.dl.sourceforge.net/project/libuuid/libuuid-1.0.3.tar.gz
tar xf libuuid-1.0.3.tar.gz

Building libuuid requires sys/syscall.h, bits/syscall.h, asm/unistd.h, and asm/unistd_32.h (or asm/unistd_64.h).

Obtain these files and copy them under libuuid-1.0.3.

cd libuuid-1.0.3
mkdir sys
cp /usr/include/x86_64-linux-gnu/sys/syscall.h sys
mkdir asm
cp /usr/include/x86_64-linux-gnu/asm/unistd.h asm
cp /usr/include/x86_64-linux-gnu/asm/unistd_64.h asm
mkdir bits
cp /usr/include/x86_64-linux-gnu/bits/syscall.h bits

Run the following script to configure the QNX cross-compilation environment.

source ~/qnx700/qnxsdp-env.sh

Build with the following commands.

Modify the qnx700 path as appropriate for your environment.

./configure --prefix=/home/openrtm/qnx700/target/qnx7/usr/ CC="qcc -V5.4.0,gcc_ntox86_64_gpp" CXX="q++ -V5.4.0,gcc_ntox86_64_gpp" AR=ntox86_64-ar RANLIB=ntox86_64-ranlib --host=x86_64-unknown-linux-gnu
make
make install
cd ..

omniORB

First, obtain the omniORB source code.

wget https://jaist.dl.sourceforge.net/project/omniorb/omniORB/omniORB-4.2.3/omniORB-4.2.3.tar.bz2
tar xf omniORB-4.2.3.tar.bz2
cd omniORB-4.2.3

You must first build omniidl on Ubuntu.

Build and install omniORB in an environment where qnxsdp-env.sh has not been executed.

./configure
make
make install

To build for QNX, modify the following section.

#OMNITHREAD_LIB += -lpthread
OMNITHREAD_LIB += -lsocket

Build with the following commands.

make clean
./configure --prefix=/home/openrtm/qnx700/target/qnx7/usr/ CC="qcc -V5.4.0,gcc_ntox86_64_gpp" CXX="q++ -V5.4.0,gcc_ntox86_64_gpp" AR=ntox86_64-ar RANLIB=ntox86_64-ranlib --host=x86_64-unknown-linux-gnu
make
make install

OpenRTM-aist

Set the PKG_CONFIG_PATH environment variable so that omniORB and uuid can be detected by pkg-config.

export PKG_CONFIG_PATH=/home/openrtm/qnx700/target/qnx7/usr/lib/pkgconfig

Build with the following commands.

git clone https://github.com/OpenRTM/OpenRTM-aist
cd OpenRTM-aist/
mkdir build
cd build
cmake -DCORBA=omniORB -DCMAKE_TOOLCHAIN_FILE=../Toolchain-QNX7.cmake -DCMAKE_INSTALL_PREFIX=/home/openrtm/qnx700/target/qnx7/usr/ ..
cmake --build . --config Release -- -j$(nproc)

Obtaining the VMWare Image

To obtain the VMWare image, download it from QNX Software Center.

Install QNX Software Development Platform → Reference Images → QNX SDP 7.0 x86-64 virtual machine for VMWare.

Open the installed QNX_SDP.vmx with VMware to start the virtual machine.

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• CMake Options
• Building omniORB
• Building TAO
• Building OpenRTM-aist and Operation Verification