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

Downloads

Download and extract the following files:

wget https://s3.amazonaws.com/RTI/Bundles/5.3.1/Evaluation/rti_connext_dds_secure-5.3.1-eval-x64Linux3gcc5.4.0.tar.gz
wget https://s3.amazonaws.com/RTI/Community/ports/toolchains/raspbian-toolchain-gcc-4.7.2-linux64.tar.gz
wget https://community.rti.com/static/downloads/connext-dds/5.3.1/rti_connext_dds-5.3.1-core-target-armv6vfphLinux3.xgcc4.7.2.rtipkg
tar xvzf raspbian-toolchain-gcc-4.7.2-linux64.tar.gz
tar xvzf rti_connext_dds_secure-5.3.1-eval-x64Linux3gcc5.4.0.tar.gz

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 CPM vehicle controller is not required.

Installation

Run the RTI installer

sudo ./rti_connext_dds-5.3.1-eval-x64Linux3gcc5.4.0.run

and select /opt/rti_connext_dds-5.3.1 as the installation directory.

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.