The Java version of OpenRTM-aist has a deb package available for Raspbian. The supported distribution versions can be found on the download page. Please note that Raspbian support versions and support are subject to change without notice.
Download the installation script "pkg_install_raspbian.sh" provided by openrtm.org from the specified URL and execute it with root privileges. This script installs necessary packages sequentially using apt-get.
By specifying the option, it is possible to install the package that suits the purpose.
Using the batch installation script, after downloading, move to the download destination directory, type-in:
$ sudo sh pkg_install_raspbian.sh -l java --yes
For details on how to download the bulk installation script, detailed installation methods, and the types of options that can be specified, see the Bulk Installation Script page.
There is currently no support for OpenRTP in the Raspbian environment. Therefore, in the Raspian environment, the RTC cannot be controlled locally using the GUI (RTSystemEditor). There are two ways to control RTC: one is to start RTSystemEditor on another supported host remotely and control it from there, and the other is to control it locally using a tool called rtshell. Please refer to the link below for installing rtshell. How to install rtshell
Check the installation.
$ dpkg -l 'openrt*' Desired=Unknown/Install/Remove/Purge/Hold | Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend |/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad) ||/ Name Version Architecture Description +++-========================-=================-=================-===================================================== ii openrtm-aist:amd64 1.2.1-0 amd64 OpenRTM-aist, RT-Middleware distributed by AIST ii openrtm-aist-dev:amd64 1.2.1-0 amd64 OpenRTM-aist headers for development ii openrtm-aist-idl:amd64 1.2.1-0 amd64 OpenRTM-aist idls for development ii openrtm-aist-java:amd64 1.2.1-0 amd64 OpenRTM-aist, RT-Middleware distributed by AIST ii openrtm-aist-java-doc 1.2.1-0 all Documentation for openrtm-aist-java ii openrtm-aist-java-exampl 1.2.1-0 amd64 OpenRTM-aist-Java examples ii openrtm-aist-python 1.2.1-0 amd64 OpenRTM-aist, RT-Middleware distributed by AIST ii openrtm-aist-python-doc 1.2.1-0 all Documentation for openrtm-aist-python ii openrtm-aist-python-exam 1.2.1-0 amd64 OpenRTM-aist-Python examples
$ pip show rtshell-aist Name: rtshell-aist Version: 4.2.2 Summary: Shell commands for managing RT Components and RT Systems. Home-page: http://github.com/gbiggs/rtshell Author: Geoffrey Biggs and contributors Author-email: geoffrey.biggs@aist.go.jp License: LGPL3 Location: /usr/local/lib/python2.7/dist-packages Requires: rtsprofile-aist, rtctree-aist Required-by:
The contents of each package are as follows.
openrtm-aist includes runtime library and commands.
/usr/bin/rtcd /usr/bin/rtcprof /usr/bin/rtm-config /usr/bin/rtm-naming
/usr/share/doc/openrtm-aist/changelog.gz /usr/share/doc/openrtm-aist/README.Debian /usr/share/doc/openrtm-aist/README /usr/share/doc/openrtm-aist/README.jp /usr/share/doc/openrtm-aist/copyright /usr/share/doc/openrtm-aist/changelog.Debian.gz
/usr/etc/rtc.conf.sample
/usr/lib/x86_64-linux-gnu/libRTC-X.X.X.so /usr/lib/x86_64-linux-gnu/libRTC.a /usr/lib/x86_64-linux-gnu/libRTC.la /usr/lib/x86_64-linux-gnu/libcoil-X.X.X.so /usr/lib/x86_64-linux-gnu/libcoil.a /usr/lib/x86_64-linux-gnu/librtmCamera.a /usr/lib/x86_64-linux-gnu/librtmCamera.la /usr/lib/x86_64-linux-gnu/librtmCamera.so.X.X.X /usr/lib/x86_64-linux-gnu/librtmManipulator.a /usr/lib/x86_64-linux-gnu/librtmManipulator.la /usr/lib/x86_64-linux-gnu/librtmManipulator.so.X.X.X /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.la /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.so.X.X.X /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.a /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.la /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.so.X.X.X /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.a /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.la /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.so.X.X.X /usr/lib/x86_64-linux-gnu/openrtm-1.2/ssl/SSLTransport.la /usr/lib/x86_64-linux-gnu/openrtm-1.2/ssl/SSLTransport.so.X.X.X /usr/lib/x86_64-linux-gnu/pigconfig/openrtm-aist.pc
openrtm-aist-dev includes commands and files that are required for RT system development.
/usr/bin/coil-config /usr/bin/rtc-template /usr/bin/rtm-skelwrapper
/usr/share/doc/openrtm-aist-dev/changelog.Debian.gz /usr/share/doc/openrtm-aist-dev/changelog.gz /usr/share/doc/openrtm-aist-dev/copyright
/usr/include/coil-1.2/coil/Affinity.h /usr/include/coil-1.2/coil/Allocator.h 中略 /usr/include/coil-1.2/coil/stringutil.h /usr/include/openrtm-1.2/rtm/BufferBase.h /usr/include/openrtm-1.2/rtm/BufferStatus.h 中略 /usr/include/openrtm-1.2/rtm/config_rtc.h /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.hh /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.idl 中略 /usr/include/openrtm-1.2/rtm/ext/ManipulatorCommonInterface_MiddleStub.h /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/ArtExecutionContext.h /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/rtc.conf.sample /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.h /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.idl 中略 /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredECStub.h /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.hh /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.idl /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECDynSK.cc /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECSK.cc /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/RTPreemptEC.h /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/rtc.conf.sample /usr/include/openrtm-1.2/rtm/ext/local_service/nameservice_file/FileNameservice.h /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/FluentBit.h /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/fluentbit.conf /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.hh /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.idl 中略 /usr/include/openrtm-1.2/rtm/ext/sdo/logger/LoggerStub.h /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserver.idl /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverConsumer.h 中略 /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverStub.h /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.hh /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.idl /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverDynSK.cc /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverSK.cc /usr/include/openrtm-1.2/rtm/idl/BasicDataType.hh /usr/include/openrtm-1.2/rtm/idl/BasicDataType.idl 中略 /usr/include/openrtm-1.2/rtm/idl/device_interfaces/Ranger.idl /usr/include/openrtm-1.2/rtm/version.h /usr/include/openrtm-1.2/rtm/version.txt
/usr/lib/x86_64-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helper/README_gen.py /usr/lib/x86-64-linux-gnu/openrtm-1.2/py_helpver/cxx_gen.py 中略 /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helpver/yat.py /usr/lib/x86_64-linux-gnu/pkgconfig/libcoil.pc
/etc/profile.d/openrtm-aist-idl.sh /usr/include/openrtm-1.2/rtm/idl/BasicDataType.idl /usr/include/openrtm-1.2/rtm/idl/CameraCommonInterface.idl 中略 /usr/include/openrtm-1.2/rtm/idl/SharedMemory.idl /usr/share/openrtm-1.2/idl/BasicDataType.idl /usr/share/openrtm-1.2/idl/CameraCommonInterface.idl 中略 /usr/share/openrtm-1.2/idl/SharedMemory.idl
/usr/share/doc/openrtm-aist-idl/changelog.Debian.gz /usr/share/doc/openrtm-aist-idl/changelog.gz /usr/share/doc/openrtm-aist-idl/copyright
/usr/bin/rtcd_java /usr/bin/rtcprof_java
/etc/profile.d/openrtm-aist-java.sh
/usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/License.txt /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/LogicalTimeTriggeredEC.jar /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/NameserviceFile.jar /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/OpenRTM-aist-1.2.0.jar /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/commons-cli-1.1.jar /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/jna-4.2.2.jar /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/jna-platform-4.2.2.jar /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/rtcd.jar /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/rtcprof.jar
Java version sample RTCs, the class file, the source files, and the startup scripts.
/usr/share/openrtm-1.2/components/java/* /usr/share/openrtm-1.2/components/java/RTMExamples/AutoTest/* /usr/share/openrtm-1.2/components/java/RTMExamples/Composite/* /usr/share/openrtm-1.2/components/java/RTMExamples/ConfigSample/* /usr/share/openrtm-1.2/components/java/RTMExamples/ExtTrigger/* /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/* /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/control/* /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/model/* /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/view/* /usr/share/openrtm-1.2/components/java/RTMExamples/MyService.idl /usr/share/openrtm-1.2/components/java/RTMExamples/SeqIO/* /usr/share/openrtm-1.2/components/java/RTMExamples/SeqIO/view/* /usr/share/openrtm-1.2/components/java/RTMExamples/SimpleIO/* /usr/share/openrtm-1.2/components/java/RTMExamples/SimpleService/* /usr/share/openrtm-1.2/components/java/RTMExamples/SinCosOut/* /usr/share/openrtm-1.2/components/java/RTMExamples/Throughput/* /usr/share/openrtm-1.2/components/java/RTMExamples/TopicTest/*
openrtm-aist-java-doc includes Japanese/English class reference.
/usr/share/openrtm-1.2/doc/java/JavaDoc/OpenRTM/* /usr/share/openrtm-1.2/doc/java/JavaDoc/OpenRTM/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/RTC/* /usr/share/openrtm-1.2/doc/java/JavaDoc/RTC/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/RTM/* /usr/share/openrtm-1.2/doc/java/JavaDoc/RTM/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/_SDOPackage/* /usr/share/openrtm-1.2/doc/java/JavaDoc/_SDOPackage/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/Constants.html /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/log/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/Version.html /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/class-use /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/* /usr/share/openrtm-1.2/doc/java/JavaDoc/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/OpenRTM/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/OpenRTM/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTC/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTC/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTM/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTM/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/_SDOPackage/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/_SDOPackage/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/index-files/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/Constants.html /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/class-use/Logbuf.html /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/class-use/* /usr/share/openrtm-1.2/doc/java/JavaDocEn/*
/usr/bin/rtcd_python /usr/bin/rtcprof_python
usr/lib/python2.7/dist-packages/OpenRTM-aist/*
/usr/lib/python2.7/dist-packages/OpenRTM_aist.ph
/usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/__init__.py /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtc-template/* /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtcd/* /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtcprof/* /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtm-naming/*
/usr/share/openrtm-1.2/components/python/__init__.py /usr/share/openrtm-1.2/components/python/rtcd.conf /usr/share/openrtm-1.2/components/python/components.conf /usr/share/openrtm-1.2/components/python/AutoControl/* /usr/share/openrtm-1.2/components/python/AutoTest/* /usr/share/openrtm-1.2/components/python/Composite/* /usr/share/openrtm-1.2/components/python/ConfigSample/* /usr/share/openrtm-1.2/components/python/ExtTrigger/* /usr/share/openrtm-1.2/components/python/MobileRobotCanvas/* /usr/share/openrtm-1.2/components/python/SeqIO/* /usr/share/openrtm-1.2/components/python/SimpleIO/* /usr/share/openrtm-1.2/components/python/SimpleService/* /usr/share/openrtm-1.2/components/python/Slider_and_Motor/* /usr/share/openrtm-1.2/components/python/Templates/* /usr/share/openrtm-1.2/components/python/Throughput/* /usr/share/openrtm-1.2/components/python/TkJoyStick/ /usr/share/openrtm-1.2/components/python/TkLRFViewer/*
/usr/share/openrtm-1.2/doc/python/ClassReference-en/html/_async_8py.html /usr/share/openrtm-1.2/doc/python/ClassReference-en/html/_buffer_base_8py.html 中略 /usr/share/openrtm-1.2/doc/python/ClassReference-en/html/uuid_8py.html
/usr/share/openrtm-1.2/doc/python/ClassReference-jp/html/_async_8py.html /usr/share/openrtm-1.2/doc/python/ClassReference-jp/html/_buffer_base_8py.html 中略 /usr/share/openrtm-1.2/doc/python/ClassReference-jp/html/uuid_8py.html
/usr/local/bin/rtact /usr/local/bin/rtcat /usr/local/bin/rtcheck /usr/local/bin/rtcomp /usr/local/bin/rtcon /usr/local/bin/rtconf /usr/local/bin/rtcryo /usr/local/bin/rtdeact /usr/local/bin/rtdel /usr/local/bin/rtdis /usr/local/bin/rtdoc /usr/local/bin/rtexit /usr/local/bin/rtfind /usr/local/bin/rtfsm /usr/local/bin/rtinject /usr/local/bin/rtlog /usr/local/bin/rtls /usr/local/bin/rtmgr /usr/local/bin/rtprint /usr/local/bin/rtpwd /usr/local/bin/rtreset /usr/local/bin/rtresurrect /usr/local/bin/rtshell_post_install /usr/local/bin/rtstart /usr/local/bin/rtstodot /usr/local/bin/rtstop /usr/local/bin/rtteardown /usr/local/bin/rtvlog /usr/local/bin/rtwatch
/usr/local/lib/python2.7/dist-packages/rtctree/* /usr/local/lib/python2.7/dist-packages/rtshell/* /usr/local/lib/python2.7/dist-packages/rtsprofile/*
/usr/local/lib/python2.7/dist-packages/rtctree_aist-4.2.0.egg-info/* /usr/local/lib/python2.7/dist-packages/rtshell_aist-4.2.2.dist-info/* /usr/local/lib/python2.7/dist-packages/rtsprofile_aist-4.1.2.dist-info/*