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LD_LIBRARY_PATH=$LD_LIBRARY_PATH:
    /home/controller/...: //Library files of cpm lib (libcpm.so) and middleware (libadditional_idl.so)
    /opt/rti_connext_dds-56.30.10/lib/x64Linux3gcc5x64Linux3gcc7.43.0
PATH=$PATH:
    $HOME/bin:
    $HOME/.local/bin:
    /opt/rti_connext_dds-56.30.10:
    /opt/rti_connext_dds-56.30.10/bin:
    /opt/rti_connext_dds-56.30.10/lib/x64Linux3gcc5x64Linux3gcc7.43.0:
    /opt/rti_connext_dds-56.30.10/bin:
    /opt/raspbian-toolchain-gcc-4.7.2-linux64/bin
NDDSHOME=/opt/rti_connext_dds-56.30.1
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RTI_LICENSE_FILE=/opt/rti_connext_dds-56.30.10/rti_license.dat

Your installation paths might be different, so you might need to change some of them.