How can I get the document which explain about the data type structure which is in the installed OpenRTM-aist.
Refer the followings:
How can I debug by looking the data between ports?
Use rtshell commands like rtprint, rtinject, etc... Refer the following page.
http://www.openrtm.org/pub/OpenRTM-aist/tools/rtshell/3.0/ja/rtprint.html
Can the communication bewtween different OSs ensure realtimeness?
You can make realtime RTC if the OS is realtime OS. However, you can not enusre realtimeness if you uses TCP/IP communication.