爱华网1. 安装必须包
sudoapt-getinstallfakerootbuild-essentialcrashkexec-toolsmakedumpfilekernel-wedge
sudoapt-getbuild-deplinux
sudoapt-getinstallgit-corelibncurses5libncurses5-devbinutils-devlibelf-devasciidocxmlto
2. 编译内核
tarjxvflinux-2.6.38.8.tar.bz2
tarjxvfrtai-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
makemrproper
makemenuconfig
// 具体配置见另外的文章http://blog.csdn.net/hf024_rita/article/details/8026262
make
makemodules
makemodules_install
makeinstall
mkinitramfs-oinitrd.img-2.6.38.8rtai-1/lib/modules/2.6.38.8rtai-1
cpinitrd.img-2.6.38.8rtai-1/boot
sudoupdate-grub2
sudoreboot// 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
lRTAI
安装 rtai:
cd/usr/src
cdrtai-3.9
makemenuconfig
配置如下：
----------------------------------------------------------
Inthemenu"General"setthertai-path(/usr/realtime)andthepathtothekernelsources(/usr/src/linux-2.6.38.8)
.--------------------------------------------------------
make
makeinstall
exportPATH=/usr/realtime/bin:$PATH
cd/usr/realtime/testsuite/kern/latency
./run
lEMC2
安装 emc2:
wgethttp://www.linuxcnc.org/lucid/emc2-install.sh
chmod755emc2-install.sh
./emc2-install.sh
sudoapt-getbuild-depemc2
sudoapt-getinstallbuild-essentialautoconf
sudoapt-getinstallgit-coregitkgit-gui
gitclonegit://git.linuxcnc.org/git/emc2.gitemc2-dev
cdemc2-dev
cdsrc
./autogen.sh
./configure--enable-simulator
make
makeinstall-menus
../rip-environment
./linuxcnc
安装中 (./configure--enable-simulator) 遇到的问题：
问题 1 ：
checkinglibgl1-mesa-driworkaround...testforlibgl1-mesa-driworkaroundfailed,pleasefileabug
原因：缺少库 libgl1-mesa-dri
解决办法：
sudoapt-getinstalllibpth-devtcl8.5-devtk8.5-devbwidgetlibxaw7-devlibreadline5-devpython-devlibglu1-mesa-devlibxinerama-devautoconfpython-tklibglib2.0-devlibxft-devgettext
问题 2 ：
configure:error:GTK2missing.Installitorspecify--disable-gtktoskipthepartsofemc2thatdependonGTK
解决：
apt-getinstallgladelibglade2-dev
问题 3 ：
checkingwhethertheBoost::Pythonheadersareavailable...no
configure:error:boost::pythonisrequiredtobuildLinuxCNC
解决：
sudoapt-getinstallpython-gnome2python-glade2python-numpypython-imagingpython-xlibpython-gtkglext1python-configobjpython-gtksourceview2
sudoapt-getinstalllibboost-python-dev
