RTAI和EMC2在ubuntu10.04.3上的安装

最新推荐文章于 2023-02-28 08:29:29 发布

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最新推荐文章于 2023-02-28 08:29:29 发布

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分类专栏：杂 EtherCAT linux 文章标签： LinuxCNC EMC2

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本文详细介绍了如何安装并配置Linux内核、RTAI、EMC2等关键组件，包括编译内核、安装RTAI、配置环境、解决安装过程中出现的问题以及最终安装EMC2的过程。

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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