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.
TODO copy toolchain
Environment Setup
Edit the global profile, for example using sudo nano /etc/profile
and insert:
export PATH=$PATH:/opt/rti_connext_dds-5.3.1/bin
export PATH=$PATH:/opt/raspbian-toolchain-gcc-4.7.2-linux64/bin
export NDDSHOME=/opt/rti_connext_dds-5.3.1
export RASPBIAN_TOOLCHAIN=/opt/raspbian-toolchain-gcc-4.7.2-linux64
export RTI_LICENSE_FILE=/opt/rti_connext_dds-5.3.1/rti_license.dat
Reboot to apply the changes made to the environment variables.
==========================================
TODO check if this is necessary. Libraries should be installed using the dynamic linker cfg ldconfig and /etc/ld.so*
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