RTAI和EMC2在ubuntu10.04.3上的安装

l 内核2.6.38.8

1.安装必须包

sudo apt-get install fakeroot build-essential crash kexec-tools makedumpfile kernel-wedge

sudo apt-get build-dep linux

sudo apt-get install git-core libncurses5 libncurses5-dev binutils-dev libelf-dev asciidoc xmlto

2. 编译内核

tar jxvf linux-2.6.38.8.tar.bz2

tar jxvf rtai-3.9.tar.bz2

cd /usr/src/linux-2.6.38.8/

patch -p1 < ../rtai-3.9/base/arch/x86/patches/hal-linux-2.6.38.8-x86-2.11-02.patch

make mrproper

make menuconfig

// 具体配置见另外的文章/article/10806289.html

make

make modules

make modules_install

make install

mkinitramfs -o initrd.img-2.6.38.8rtai-1 /lib/modules/2.6.38.8rtai-1

cp initrd.img-2.6.38.8rtai-1 /boot

sudo update-grub2

sudo reboot //重启前，确定grub配置文件中的GRUB_HIDDEN_TIMEOUT！=0，否则编译的内核有不错误是，启动不了

l RTAI

安装 rtai:

cd /usr/src

cd rtai-3.9

make menuconfig

配置如下：

----------------------------------------------------------

In the menu "General" set the rtai-path (/usr/realtime) and the path to the kernel sources (/usr/src/linux-2.6.38.8)

.--------------------------------------------------------

make

make install

export PATH=/usr/realtime/bin:$PATH

cd /usr/realtime/testsuite/kern/latency

./run

l EMC2

安装emc2:

wget http://www.linuxcnc.org/lucid/emc2-install.sh
chmod 755 emc2-install.sh

./emc2-install.sh

sudo apt-get build-dep emc2

sudo apt-get install build-essential autoconf

sudo apt-get install git-core gitk git-gui

git clone git://git.linuxcnc.org/git/emc2.git emc2-dev

cd emc2-dev

cd src

./autogen.sh

./configure --enable-simulator

make

make install-menus

. ./rip-environment

./linuxcnc

安装中(./configure --enable-simulator )遇到的问题：

问题1：

checking libgl1-mesa-dri workaround... test for libgl1-mesa-dri workaround failed, please file a bug

原因：缺少库 libgl1-mesa-dri

解决办法：

sudo apt-get install libpth-dev tcl8.5-dev tk8.5-dev bwidget libxaw7-dev libreadline5-dev python-dev libglu1-mesa-dev libxinerama-dev autoconf python-tk libglib2.0-dev libxft-dev gettext

问题2：

configure: error: GTK2 missing. Install it or specify --disable-gtk to skip the parts of emc2 that depend on GTK

解决：

apt-get install glade libglade2-dev

问题3：

checking whether the Boost::Python headers are available... no

configure: error: boost::python is required to build LinuxCNC

解决：

sudo apt-get install python-gnome2 python-glade2 python-numpy python-imaging python-xlib python-gtkglext1 python-configobj python-gtksourceview2

sudo apt-get install libboost-python-dev