Step 1 - Prepare your machine

• Perform a clean installation of Ubuntu 10.04 x86 and apply all available updates.
• From now on, all commands that follow a white dot have to be typed in a terminal window (follow the rule that for each dot corresponds one command on a single line).
• Get the following packages:
• sudo apt-getinstall cvs subversion build-essential libtool automake libncurses5-dev bison flex libboost-dev libboost-program-options-dev libgsl0-dev gfortran sablotron tcl8.5-dev tk8.5-dev xaw3dg-dev libpvm3 pvm-dev libgtkhtml2-dev libvte-dev ocaml-native-compilers libqt4-dev libqwt5-qt4-dev xfonts-100dpi xfonts-75dpi ssh
• If you don’t already have it get realtimesuite archive, then extract it:
• sudo wget http://sourceforge.net/projects/rtaixml/files/realtimesuite/1.1/realtimesuite-1.1.tar.gz/download
• sudo mv download /usr/src/realtimesuite-1.0.tar.gz
• cd /usr/src
• sudo tar -xvzf realtimesuite-1.0.tar.gz
• Ensure that /usr/src folder contains at least the following subfolders: ‘boot’, ‘comedi’, ‘comedi_calibrate’, ‘comedilib’, ‘comedi-nonfree-firmware’, ‘ede’, ‘efltk’, ‘jrtailab’, ‘kernel’  ‘qrtailab’, ‘rtai-3.8.1’, ‘rtaixml-1.0’, ‘scicoslab’.
• Install EFLTK library:
• cd /usr/src/efltk
• sudo autoconf
• sudo ./configure --disable-mysql --disable-unixODBC
• sudo ./emake
• sudo ./emake install
• sudo gedit /etc/ld.so.conf
  
• Add a line with the path /usr/local/lib and save.

• sudo /sbin/ldconfig
• Make symbolic link:
• cd /usr/src
• sudo ln -s rtai-3.8.1 rtai

Step 2 - RTAI Patched Kernel

• Get Linux 2.6.32 Kernel patched with RTAI from LinuxCNC:
• cd
• echo deb http://www.linuxcnc.org/lucid lucid base emc2.4 > /tmp/linuxcnc.list
• echo deb-src http://www.linuxcnc.org/lucid lucid base emc2.4 >> /tmp/linuxcnc.list
• sudo mv /tmp/linuxcnc.list /etc/apt/sources.list.d/
• gpg --keyserver pgpkeys.mit.edu --recv-key 8F374FEF
• gpg -a --export 8F374FEF | sudo apt-key add -
• sudo apt-get update
• sudo apt-get install linux-headers-2.6.32-122-rtai linux-image-2.6.32-122-rtai
• NOTE: in case you are in trouble downloading patched Kernel, the required .deb installers are included in the realtimesuite package (under kernel subfolder).
• Make symbolic link:
• cd /usr/src
• sudo ln -s linux-headers-2.6.32-122-rtai linux
• Reboot in the new Kernel:
• sudo reboot
• After reboot, check if patched kernel is running (2.6.32-122-rtai):
• uname -r

Step 3 - First RTAI v3.8.1 Installation

• Install Comedilib:
• cd /usr/src/comedilib
• sudo sh autogen.sh
• sudo ./configure --sysconfdir=/etc
• sudo make
• sudo make install
• sudo make dev
• Check the number of CPUs available on your machine:
• cat /proc/cpuinfo | grep processor | wc -l
• Enter RTAI compiling options:
• cd /usr/src/rtai
• sudo make menuconfig
• Under Machine, set the number of CPUs that you previously found.
• Exit Configuration, choosing ‘Yes’ when prompted to apply changes.
• Compile and install RTAI:
• sudo make
• sudo make install
• sudo sed -i 's/\(PATH=\"\)/\1\/usr\/realtime\/bin:/' /etc/environment
• Reboot the system.
• After reboot, set RTAI kernel modules to be loaded at system startup:
• cd /usr/src/boot
• sudo cp rtailab /etc/init.d/
• sudo chmod a+x /etc/init.d/rtailab
• sudo update-rc.d rtailab defaults
• Now load RTAI kernel modules without Comedi:
• sudo /etc/init.d/rtailab preload

Step 4 - Comedi Installation

• Create directory:
• sudo mkdir /usr/local/include/linux
• Install Comedi:
• cd /usr/src/comedi
• sudo sh autogen.sh
• sudo ./configure --with-linuxdir=/usr/src/linux-headers-2.6.32-122-rtai --with-rtaidir=/usr/realtime
• sudo make
• sudo make install
• sudo depmod -a
• sudo make dev
• sudo ldconfig
• Install Comedi Calibrate:
• cd /usr/src/comedi_calibrate
• sudo autoreconf -i -B m4
• sudo ./configure
• sudo make
• sudo make install

Step 5 - Second RTAI v3.8.1 Installation

• Copy and link the following files:
• sudo cp /usr/src/comedi/include/linux/comedi.h /usr/local/include/
• sudo cp /usr/src/comedi/include/linux/comedilib.h /usr/local/include/
• sudo ln -s /usr/local/include/comedi.h /usr/local/include/linux/comedi.h
• sudo ln -s /usr/local/include/comedilib.h /usr/local/include/linux/comedilib.h

• Enter RTAI compiling options:
• cd /usr/src/rtai
• sudo make menuconfig
• Under Addons, select ‘Real Time COMEDI support in user space’ (by pressing spacebar).
• Under RTAI Lab, select ‘RTAI Lab’.
• Exit and save configuration.
• Install RTAI:
• sudo make
• sudo make install
• sudo cp /usr/src/comedilib/include/comedilib.h /usr/local/include/
• Navigate with your web browser to http://www.comedi.org/hardware.html and find your DAQ hardware in the list; take note of name under “Driver” column.
• Edit rtailab startup file with driver for your DAQ board:
• sudo gedit /etc/init.d/rtailab
• Replace driver on lines 33 and 55 with the one you found on Comedi website. Save and close.
• Reboot system.

Step 6 - Scicoslab v4.4 Installation

• Navigate with File Browser to /usr/src/scicoslab
• Right-click on ‘scicoslab-gtk_4.4.1-1_i386.lucid.deb’ and select ‘Open with GDebi’.
• Install package.
• Repeat for ‘tkdnd1_1.0-1_i386.lucid.deb’.
• Add RTAI toolbox and palette to Scicoslab:
• sudo ln -s /usr/realtime/bin/rtai-config /usr/local/bin
• cd /usr/src/rtai/rtai-lab/scicoslab/macros/
• sudo make install
• make user
• cd /usr/local/bin
• sudo ln -s /usr/lib/scicoslab-gtk-4.x/bin/scilab scilab
• Start Scicoslab as root and check the presence of toolboxes->RTAI in the upper menu:
• sudo scicoslab

Step 7 - QRTAILab v0.1.12 Installation

• Install QRTAILab:
• cd /usr/src/qrtailab/qrtailab-0.1.12
• sudo qmake-qt4
• sudo make
• sudo make install

Step 8 - RTAI-XML v1.0 Installation

• Install RTAI-XML (pay attention to terminal outputs, you’ll get useful informations on how to use it):
• cd /usr/src/rtaixml-1.0
• sudo make all
• sudo make install
• Set RTAI-XML modules to be loaded at system startup:
• sudo cp /usr/src/boot/rtaixml /etc/init.d/
• sudo chmod a+x /etc/init.d/rtaixml
• sudo update-rc.d rtaixml defaults
• Start RTAI-XML modules:
• sudo /etc/init.d/rtaixml start

Step 9 - Set up jRTAI-Lab 1.2.0 for remote control

• The following instructions are for Ubuntu 10.04, though you can easily run jRTAI-Lab on any OS that supports Sun Java Virtual Machine 6.
• Install JVM6:
• sudo add-apt-repository "deb http://archive.canonical.com/ lucid partner"
• sudo apt-get update
  
• sudo apt-get install sun-java6-jre
• Allow execution of jRTAI-Lab and run it:
• sudo chmod a+x /usr/src/jrtailab/jRtaiLab-1.2.0.jar
• java -jar /usr/src/jrtailab/jRtaiLab-1.2.0.jar

Congratulations, you’re done!