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03 Juli 2013:
hart_0.4.5 released!

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Installation RTAI


UBUNTU 10.04

Install the following packages to proceed:

Installation of all components

RTAI kernel from EMC

echo deb lucid base emc2.4 > /tmp/linuxcnc.list
echo deb-src lucid base emc2.4 >> /tmp/linuxcnc.list
sudo mv /tmp/linuxcnc.list /etc/apt/sources.list.d/
gpg --keyserver --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
Reboot in the new installed RTAI-kernel.



cd /usr/src
sudo cvs co magma
sudo ln -s magma rtai


cd /usr/src
sudo wget --no-check-certificate
sudo tar xjvf rtai-3.8.1.tar.bz2
sudo ln -s rtai-3.8.1 rtai
cd /usr/src/rtai
sudo make menuconfig
Ensure directories are correct:
sudo make
sudo make install
sudo sed -i 's/\(PATH=\"\)/\1\/usr\/realtime\/bin:/' /etc/environment
now run export PATH=/usr/realtime/bin:$PATH for each open shell or do logout and login Now we need to load the rtai modules.
/sbin/insmod /usr/realtime/modules/rtai_smi.ko
/sbin/insmod /usr/realtime/modules/rtai_hal.ko
/sbin/insmod /usr/realtime/modules/rtai_lxrt.ko
/sbin/insmod /usr/realtime/modules/rtai_fifos.ko
/sbin/insmod /usr/realtime/modules/rtai_sem.ko
/sbin/insmod /usr/realtime/modules/rtai_mbx.ko
/sbin/insmod /usr/realtime/modules/rtai_msg.ko
/sbin/insmod /usr/realtime/modules/rtai_netrpc.ko
/sbin/insmod /usr/realtime/modules/rtai_shm.ko
Copy the lines to /usr/local/bin/start_rtai
Do a sudo chmod a+x /usr/local/bin/start_rtai

SCILAB 4.1.2

cd /opt
sudo wget
sudo tar xvzf scilab-4.1.2.bin.linux-i686.tar.gz
cd /opt/scilab-4.1.2
sudo wget
sudo tar xvzf scilablibs.tar.gz
sudo make
sudo ln -s /opt/scilab-4.1.2/bin/scilab /usr/local/bin/scilab


(svn -version)

cd /usr/local/src
sudo svn co qrtailab

(tar.gz - version)

cd /usr/local/src
sudo wget
sudo tar xvzf QRtaiLab-0.1.12.tar.gz
If you use a tar.gz-version please replace qrtailab with qrtailab-x.x.x (x.x.x is the number of your installed version )
cd /usr/local/src/qrtailab
Edit qrtailab.config and replace '/usr/include/qwt/' with '/usr/include/qwt-qt4/' and '-lqwt' with '-lqwt-qt4'
sudo qmake-qt4
sudo make
sudo make install

HART Toolbox (

Chose a directory (/home/username/software, ...)

(svn -version)

svn co hart

(tar.gz -version)

tar xvzf hart_0.4.1-src.tar.gz
Go in your hart-directory.
Edit Makefile and set 'SCILAB = ...' to the binary file of scilab 4.1.2
Warning: sudo make will not install RTAI module! Either be a normal user and install HART or change to root (using sudo su) and then do make.
cd /...../scilab-xxx/contrib
sudo ln -s {link to hart-toolbox} .
Gratulation you are finished!