Installation of RTI DDS

If you want to use RTI DDS for real-time communication between devices, it is advisable to use e.g. a Ubuntu distribution in combination with a real time patch. Of course, the software can also be used on other operating systems.

The software can be downloaded here: https://www.rti.com/free-trial. You need to fill in a form before you can download the software. Additionally to the software, you also need a license file. The installation itself is straightforward and should be properly explained on the RTI website. The software works e.g. on Ubuntu 18.10.

Further Steps (TODO change paths to "global" setting)

After the installation, some further steps are required.

The software might not start due to missing packages. In Ubuntu 18.10, some version of gtk is required, but missing in the default installation - try to resolve the error by installing libgtkmm-3.0-dev . Another package might be required as well. If the RTI Launcher does not start (properly), execute the software via the terminal and use its output to determine the error.

Some environment variables need to be changed / added. In Ubuntu 18.10, this can be done by opening a terminal and typing:

sudo gedit ~/.profile

In the text file, add the following lines:

PATH="/home/controller/rti_connext_dds-5.3.1:/home/controller/rti_connext_dds-5.3.1/bin:/home/controller/rti_connext_dds-5.3.1/lib/x64Linux3gcc5.4.0:$PATH"

PATH=$PATH:$HOME/rti_connext_dds-5.3.1/bin
PATH=$PATH:$HOME/Documents/raspbian-toolchain-gcc-4.7.2-linux64/bin

export PATH

export NDDSHOME=$HOME/rti_connext_dds-5.3.1
export RASPBIAN_TOOLCHAIN=$HOME/Documents/raspbian-toolchain-gcc-4.7.2-linux64
export RTI_LICENSE_FILE=$HOME/rti_connext_dds-5.3.1/rti_license.dat

LD_LIBRARY_PATH="/home/controller/Documents/Matlab/bin/glnxa64:/home/controller/Documents/Matlab/sys/os/glnxa64:/home/controller/rti_connext_dds-5.3.1:/home/controller/rti_connext_dds-5.3.1/bin:/home/controller/rti_connext_dds-5.3.1/lib/x64Linux3gcc5.4.0:$LD_LIBRARY_PATH"
export LD_LIBRARY_PATH

All paths should be adjusted to your current setup. The Raspbian toolchain information are only required if you need to use according tools, such as the simulated vehicle.

Restart your computer to apply the changes made to the environment variables.

Now, the RTI Launcher should be usable.