RTI DDS is used for real-time communication between programs and devices. It implements a publish-subscribe pattern and serialization/deserialization for the messages. It is mandatory.

Downloads

Download and extract the following files:

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A backup of these files can be found in sciebo/CPM/Project/Lab/08_Other/RtiConnextBackup.
The Raspbian toolchain and the ARMv6 libraries may be skipped, if compilation for the lab vehicle Raspberry controller is not required.

Installation

Run the RTI installer

sudo ./rti_connext_dds-6.0.0-eval-x64Linux4gcc7.3.0.run

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Get a copy of the RTI license and move it to /opt/rti_connext_dds-6.0.0/rti_license.dat.

Environment Setup

Register the RTI libraries with the dynamic linker. Edit with sudo nano /etc/ld.so.conf and insert:

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Select a unique DDS domain! To avoid interference from other users in the same network, you need to set a DDS domain ID that is different from everyone in the network. The domain ID is assumed to be in the environment variable DDS_DOMAIN. Currently occupied IDs are:

Edit the global profile with the code below while inserting your own unique ID instaed of the "<>", for example using sudo nano /etc/profile and insert:

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Reboot to apply the changes made to the environment variables.

Anchor
anchor_rti_libraries anchor_rti_libraries

Install RTI ARM libraries

sudo /opt/rti_connext_dds-6.0.0/bin/rtipkginstall rti_connext_dds-6.0.0-core-target-armv6vfphLinux3.xgcc4.7.2.rtipkg