RTAI和EMC2在 ubuntu 10.04.3上的安装

[原]RTAI和EMC2在ubuntu10.04.3上的安装
2012-9-27阅读424 评论3

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http://blog.csdn.net/hf024_rita/article/details/8026262

     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