Connect to Teradata Database from Linux machine through ODBC

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Connect to Teradata Database from Linux machine through ODBC

I want to connect to Teradata database from Linux Machine (not a non-TPA node) through ODBC from shell script program. The following packages/clients are installed on machine

tdodbc-12.00.00.08-1
cliv2-12.00.00.07-1
tdicu-12.00.00.02-1
TeraGSS_redhatlinux-i386-12.00.02.29-1
piom-12.00.00.04-1

Please let me how can I connect to TD database.