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Install rtmros-based software on QNX
Description: This page describes how to install rtmros_common-based controller on QNX. At the moment, this page is only intended particularly for the robots listed in the body of this wiki page.Keywords: Hiro, NextageOpen, Kawada
Tutorial Level: ADVANCED
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Content in this page is DEPRECATED - See rtmros_nextage/Tutorials/Install or update software on ControllerBox instead.
Contents
Targeted robots
Nextage Open (rtmros_nextage, its ROS package)
Common spec
With the current design, all files that get installed with the steps described in this page are to be installed under /opt/jsk.
First time installation
TBD
Subsequent installation
"Subsequent" here means that the necessary software has been already installed on your QNX.
Re-installing OpenRTM
TBD
Re-installing OpenHRP3
TBD
Re-installing hrpsys
You can use this script robot-compile-hrpsys.sh in hironx_ros_bridge package, in the following way as an example:
$ roscd hironx_ros_bridge/robot $ ./robot-compile-hrpsys.sh %HOST_QNX% %USER_ON_QNX%
What this script does is, if it's not clear from the portion of this section in the script:
ssh login into QNX as the user you specify. Note that all subsequent steps are done by this user; meaning, beware the access right.
Create a temporary directory at the top directory of the user. cd into it.
Download current source code of hrpsys from its development repository. cd into its source folder.
cmake it
make it
sudo make install it.
Remove unnecessary file (libhrpIo.so).
