Install Mesa

Дата канвертавання25.04.2016
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Installation of the RTAI-Lab

Install Mesa

The first part is the installation of the mesa 3D libraries which have dependencies for ELFK which in turn xrtailab uses to display executed code, the example described later uses this to display a sine wave.

So as root:

cd /usr/local/src

Download MesaLib-6.x.x.tar.bz2 from

tar jxvf MesaLib-6.x.x.tar.bz2

cd Mesa-6.x.x

make realclean

make linux-x86 && make install

EFLTK Library

The ELFTK library is needed by the xrtailab for various windows as well as for the oscilloscope display, downloaded using the following subversion commands to get the latest versions

cd /usr/local/src

svn co

svn co

cd efltk


./configure –disable-mysql –disable-unixODBC


./emake install
We need to edit /etc/ and add the path /usr/local/lib

Then run /sbin/ldconfig to update the library database


Used to increase the functionality of the RTAI at a later stage

cd /usr/local/src


tar –xvxf comedib-0.8.1.tar.gz

tar –xvzf comedi-0.7.76.gz

cd comedilib

prepare the build system for compilation, check versions, etc.


./configure –sysconfdir=/etc

make && make install

make dev


Very similar to the Comedilib installation

cd /usr/local/src/comedi




make install

make dev

cp include/linux/comedi.h include/linux/comedilib.h /usr/include

cp include/linux/comedi.h include/linux/comedilib.h /usr/local/include

ln –s /usr/include/comedi.h /usr/include/linux/comedi.h

ln –s /usr/include/comedilib.h /usr/include/linux/comedilib.h

Recompile the RTAI

We need to recompile the RTAI to install the RTAI-Lab and include Comedi that has just been installed.
cd /usr/src/rtai

make menuconfig
Addons >

Comedi support over LXRT [*]

Include the comedi installation directory (where libcomedi.a, comedi.h and comedi.h can be found)

RTAI-Lab >

RTAI-lab [*]

Include the ELFTK Installation Directory

Exit and save configuration

Make && make install

Scilab and Scicos Installation

The version used here is 4.1.2 and is downloaded from to the /usr/local directory.
cd /usr/local

tar zxvf scilab-4.1.2-src.tar.gz

cd scilab-4.1.2

Since fedora core 5 is used here the following command is used:

./configure –without-java

make all

Note: at this point do NOT make install

ln –s /usr/localscilab-4.1.2/binscilab/usr/local/bin/scilab

To check that scilab runs correctly, type


In the command line if it opens with errors then restart the installation and use dmesg to check for errors with the installation.

Rtai add-ons for scilab

These include the blocks that will be for Real time code generation developed by Roberto bucher. Again the commands used for the correct installation are shown below.

cd /usr/local
Download the add-on tar ball from

tar zxvf scilab-4.1.2-rtailab.tgz

cd scilab-4.1.2-rtailab/macros

make install

make user
This creates a file in the USERNAME/.Scilab/scilab-4.1.2/ called .scilab which must be edited and added with the lines


%scicos_menu($+1)=['RTAI','RTAI CodeGen','Set Target']

This adds menus to the Scicos application, the menu button for the RTAI code generation and another for the actual link to the RTAI blocks under the edit heading.
To finish, Scilab is added to the executable path using

cd /usr/local/bin

ln -s /usr/local/scilab-4.x.x/bin/scilab scilab

This concludes the installation of the RTAI-lab

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