The procedure for installing OpenRTM-aist using the MSI installer is described on the following page.
RTC development requires installation of CMake, Doxygen, and Visual Studio.
Python is used not only for developing the Python language version of RTC, but also for various tools of OpenRTM-aist, so it must be installed. As of November 2020, support is provided for Python 3.6, 3.8, 3.7, 3.9 (released in October 2020), but OpenRTM-aist supports 3.6 to 3.8. We recommend that you install the latest version.
CMake is required to automatically generate the files required for build (Visual Studio project file, Makefile on Linux, etc.) in various environments such as Windows and Linux. During the installation, you will be asked what to do with system PATH as [Install Options], it is recommended that you select Add CMake to the system PATH for all users. (Our validation is done with this setting)
Doxygen is a tool that automatically generates documents from comments such as source code. Graphviz is a tool required to generate diagrams such as class diagrams when generating documents with Doxygen. In OpenRTM-aist, various design information can be entered in RTCBuilder when designing RTC, and they are output as comments in the source code. By processing this with Doxygen, you can generate a beautiful RTC document.
During the installation, you will be asked what to do with system PATH as [Install Options], it is recommended that you select Add CMake to the system PATH for all users. Download and execute the Windows version binary executable file from the web page.
After installation, run dot -v at the command prompt and check that the plugin information is displayed.
>dot -v dot - graphviz version 2.44.1 (20200629.0846) libdir = "C:\Program Files\Graphviz 2.44.1\bin" Activated plugin library: gvplugin_dot_layout.dll Using layout: dot:dot_layout Activated plugin library: gvplugin_core.dll Using render: dot:core Using device: dot:dot:core The plugin configuration file: C:\Program Files\Graphviz 2.44.1\bin\config6 was successfully loaded. render : cairo dot dot_json fig gdiplus json json0 map mp pic ps svg tk vml xdot xdot_json layout : circo dot fdp neato nop nop1 nop2 osage patchwork sfdp twopi textlayout : textlayout device : bmp canon cmap cmapx cmapx_np dot dot_json emf emfplus eps fig gif gv imap imap_np ismap jpe jpeg jpg json json0 metafile mp pdf pic plain plain-ext png ps ps2 svg tif tiff tk vml xdot xdot1.2 xdot1.4 xdot_json loadimage : (lib) bmp eps gif jpe jpeg jpg png ps svg
If the following is displayed, open a command prompt as an administrator, execute dot -c and then dot -v, and the above will be displayed.
>dot -v dot - graphviz version 2.44.1 (20200629.0846) There is no layout engine support for "dot" Perhaps "dot -c" needs to be run (with installer's privileges) to register the plugins?
To open a command prompt as an administrator, type cmd in the Windows 10 search window, right-click Command Prompt in the search results and select Run as administrator.
The installer does the following:
RTM_BASE=C:\Program Files\OpenRTM-aist\ RTM_ROOT=C:\Program Files\OpenRTM-aist\1.2.1\ RTM_VC_VERSION=//This contains the text that specifies the version of VC according to the user specified Visual Studio RTM_JAVA_ROOT=C:\Program Files\OpenRTM-aist\1.2.1\ OMNI_ROOT=C:\Program Files\OpenRTM-aist\1.2.1\omniORB\4.2.3_% RTM_VC_VERSION%\ OpenCV_DIR=C:\Program Files\OpenRTM-aist\1.2.1\OpenCV3.4\ OpenRTM_DIR=C:\Program Files\OpenRTM-aist\1.2.1\cmake\
C:\Program Files\OpenRTM-aist\1.2.1\bin\% RTM_VC_VERSION%\ C:\Program Files\OpenRTM-aist\1.2.1\omniORB\4.2.1_% RTM_VC_VERSION%\bin\x86_win32\ C:\Program Files\OpenRTM-aist\1.2.1\OpenCV3.4\% RTM_VC_VERSION%\bin\
RTM_BASE=C:\Program Files (x86)\OpenRTM-aist\ RTM_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.2.1\ RTM_VC_VERSION=// This contains the text that specifies the version of VC according to the user specified Visual Studio RTM_JAVA_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.2.1\ OMNI_ROOT=C:\Program Files\OpenRTM-aist\1.2.1\omniORB\4.2.3_% RTM_VC_VERSION%\ OpenCV_DIR=C:\Program Files\OpenRTM-aist\1.2.1\OpenCV3.4\ OpenRTM_DIR=C:\Program Files\OpenRTM-aist\1.2.1\cmake\
C:\Program Files (x86)\OpenRTM-aist\1.2.1\bin\% RTM_VC_VERSION%\ C:\Program Files (x86)\OpenRTM-aist\1.2.1\omniORB\4.2.3_% RTM_VC_VERSION%\bin\x86_win32\ C:\Program Files (x86)\OpenRTM-aist\1.2.1\OpenCV3.4\x86\% RTM_VC_VERSION%\bin\
The files are installed in the following structure.
<install_dir> + OpenRTM-aist + 1.x.x :Old version run time + 1.2.1 + bin: dll、lib and commands + cmake: OpenRTMConfig.cmake + coil: coil header files + Components + C++ + Examples: C++ sample components + OpenCV: OpenCV C++ sample components + Java: Java sample components + Python: Python sample components + etc: rtc.conf sample file + jar: jar files + jre: OpenJDK JRE + omniORB + OpenCV3.4 + rtm: OpenRTM-aist header files + ext: files for extension modules + idl: OpenRTM-aist IDL files + util + ExcelControlpy: Python base RTCs for Microsoft Office + OpenRTP: RTCBuilder and RTSystemEditor + PowerPointControlpy: RTCs for Microsoft Office PowerPoint + python_dist: common library files for python base tools + RTCDT: A tool to support to develop Python base RTC. + rtc-template: An old tool to provide slimier function as RTCBuilder + RTSystemEditor: Files for standalone RTSystemEditor (RCP) + VCVerChanger: A tool to specify the version of using Visual Studio + WordContrlpy: Python base RTCs for Microsoft Office Word
Get the installer for Visual Studio Community 2019 from the following page
Click on the [Free Download] button below labeled [Community] to begin downloading the installer.
When the download is completed, open the downloaded file and execute it. Follow the instructions and the following screen will be displayed. Check the box for [Desktop development with C++] and click the [Install] button.
How to create a new Microsoft account
Make sure that the desktop development function by C++ is installed.
There is no problem if you can create a Visual C++ project.
First, click [Create New Project].
At this time, if there is an
[empty project
start from scratch with C++ for Windows, Provides no starting files.],
there is no problem in installation.
If it is not installed, click
[Install more tools and features] under label Not finding what you're looking for? to launch the installer and install the C++ desktop development feature.