• Installation of software required for development
  • Visual Studio
  • Python
  • CMake
  • Doxygen & Graphviz
  • JDK8
• Install OpenRTM-aist
  • Download installer
  • Install
  • Checking system environment variables

Installation of software required for development

RTC development requires installation of Python, CMake, Doxygen, and Visual Studio.

Visual Studio

It is necessary not only for developing the C ++ version, but also for building the installer when creating the Python version and Java version of the RTC. Install it by downloading from the link, or obtain and install Visual Studio 2019/2022/2026 separately.

• Microsoft ''Download Visual Studio 2026''

• Installing Visual Studio Community 2026

Python

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. Python supported by OpenRTM-aist is 3.10, 3.11, 3.12, 3.13, 3.14. We recommend that you install the latest version.

• Python Releases for Windows
  • python-3.13.13-amd64.exe (64bit)

• The Python installation destination corresponds to the selection [Customize installation] at the time of installation.
• For the procedure to specify the installation destination in [Customize installation], see the explanation on the following page.
  • Let's start OpenRTM-aist in 10 minutes!・Installation of Python

CMake

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.
Please install the latest version as much as possible.

• CMake(3.11以上推奨)
  • cmake-4.3.3-windows-x86_64.msi (64bit)
  • 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.

Doxygen & Graphviz

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.
Please install the latest version as much as possible.

• Doxygen
  • doxygen-1.17.0-setup.exe
  • If you are using Microsoft Edge and cannot download, please see the explanation for OpenRTM-aist.
    • Let's start OpenRTM-aist in 10 minutes!・Download OpenRTM-aist

• Graphviz
  • windows_10_cmake_Release_graphviz-install-15.0.0-win64.exe

During the installation, you will be asked what to do with the system PATH as the Install Options, but we recommend that you select Add Graphviz 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

JDK8

• Install JDK8

Install OpenRTM-aist

After installing the above software, install OpenRTM-aist.

Download installer

Download and execute "msi" file.

• Let's start OpenRTM-aist in 10 minutes!・Download OpenRTM-aist

This installer contains the following.

• Development environment for C ++
  • OpenCV 4.13.0
  • Past versions of DLLs for C ++ (Required when running the old RTC)
• Development environment for Python
• Development environment for Java
• omniORB 4.3.4
• OpenRTP (GUI tool, RTCBuilder，RTSystemEditor）
  • JRE8 environment (Required for OpenRTP）
• VCVerChanger (GUI tool）
• rtshell (CUI tool）

Install

• Let's start OpenRTM-aist in 10 minutes!・Installing OpenRTM-aist

• Let's start OpenRTM-aist in 10 minutes!・Run the sample component

• What the installer does

Checking system environment variables

The system environment variable RTM_VC_VERSION is set to match the installed Visual Studio version. After installation, this environment variable expands to the value vc16, but we have confirmed that in some cases it may not expand due to Windows behavior. Therefore, we recommend checking the system environment variable with VCVerChanger.

Enter VCVerChanger in the search bar and launch it. Once launched, press the "確認" button, check the displayed path, and then press "終了".

• Run the sample component
• List of sample components
  • Included with C ++, Python, and Java
  • Included with Python
  • Included with Python, and Java
  • Included with Java
  • OpenCV C ++ version

Run the sample component

After successful installation, you can check the operation with the attached sample component. We have prepared a bat file, so you can start it by double-clicking it.

• Let's start OpenRTM-aist in 10 minutes!・Run the sample component
  
  
  
  
  Start menu folder

The installation destination of the sample component is as follows.

 C:\Program Files\OpenRTM-aist\2.1.x\Components\C++\Examples
 C:\Program Files\OpenRTM-aist\2.1.x\Components\Python
 C:\Program Files\OpenRTM-aist\2.1.x\Components\Java
 C:\Program Files\OpenRTM-aist\2.1.x\Components\C++\OpenCV

List of sample components

Below is a brief description of the included sample components and a link to a page that explains how to use them.

Included with C ++, Python, and Java

Included with Python

Included with Python, and Java

Included with Java

OpenCV C ++ version

If you want to modify OpenRTM-aist itself and use it on Windows, you can get the source code of OpenRTM-aist and build it. Since CMake is supported from 2.0 series, the procedure is different from 1.2 series.

• Required software and libraries
• Command procedure at build/installation
• Batch processing with script

Required software and libraries

Following software is required.　For details, see Installation of OpenRTM-aist 2.1 series on Windows

• Visual Studio
• Python
• CMake
• Doxygen & Graphviz（If you also want to do a document build.）

• omniORB 4.3.4

The pre-built binary package provided by openrtm.org is available under the name omniORB-4.3.4-x64-vc16-pyXX.zip at the link below. Please replace it with the version of python to install XX, download the appropriate one, and extract it to a suitable location (C:\workspace\omniORB in the explanation below).

• Binary package provided by openrtm.org

For more information on building with other libraries, see RT System Development (Advanced)・Build process of OpenRTM-aist(C++) by using CMake

Command procedure at build/installation

Get the source code. Check out the master branch for the latest OpenRTM-aist 2.1 source, and v2.1.0 for the 2.1.0 release source.

 git clone https://github.com/OpenRTM/OpenRTM-aist
 cd OpenRTM-aist
 git checkout -b v210-src refs/tags/v2.1.0

• -DORB_ROOT : Downloaded and unzipped omniORB path
• -G :Visual Studio version（"Visual Studio 18 2026" "Visual Studio 17 2022" "Visual Studio 16 2019" etc.）
• -DCMAKE_INSTALL_PREFIX : Installation path from source

 mkdir build
 cd build
 cmake -DORB_ROOT=C:/workspace/4.2.5-x64-vc16-py314 -G "Visual Studio 18 2026" -DCMAKE_INSTALL_PREFIX=C:/workspace/openrtminstall ..

Then execute the following command. Finally, if you see the following, the build is successful.

 cmake --build . --verbose --config Release 
 The build was successful.
     0 Warnings
     0 Error

If the build is successful, complete the installation with the following command:

 cmake --build . --config Release --target install

Batch processing with script

I will introduce a script (OpenRTM-build-Windows.bat) that batch processes from download of omniORB to source build and installation. It is executed by placing it under the OpenRTM-aist directory that has been git cloned.

 cd OpenRTM-aist
 copy scripts\OpenRTM-build-Windows.bat . 
 OpenRTM-build-Windows.bat > build.log

This OpenRTM-build-Windows.bat file is used during the build process for integrating it into the Windows Installer MSI. Please use only the necessary options when using CMake.

What the installer does

The installer copies the files and configures the system according to the following work contents. It is described below for reference when confirming that the installation and uninstallation are performed correctly.

• Copy various files under the installation directory (C:\Program Files)
• Create an OpenRTM-aist folder under the start menu and set various shortcuts.
• Environment variable settings (when OpenRTM-aist 2.1.0 version is installed with default settings)

   RTM_BASE=C:\Program Files\OpenRTM-aist\
   RTM_ROOT=C:\Program Files\OpenRTM-aist\2.1.0\
   RTM_VC_VERSION=vc16
   RTM_JAVA_ROOT=C:\Program Files\OpenRTM-aist\2.1.0\
   RTM_IDL_DIR=C:\Program Files\OpenRTM-aist\2.1.0\rtm\idl\
   OMNI_ROOT=C:\Program Files\OpenRTM-aist\2.1.0\omniORB\4.3.4_vc16\
   OpenCV_DIR=C:\Program Files\OpenRTM-aist\2.1.0\OpenCV4.13.0\
   OpenRTM_DIR=C:\Program Files\OpenRTM-aist\2.1.0\cmake\

• Additional settings to PATH (when OpenRTM-aist 2.1.0 version is installed with default settings)

   C:\Program Files\OpenRTM-aist\2.1.0\bin\vc16\
   C:\Program Files\OpenRTM-aist\2.1.0\omniORB\4.3.4_vc16\bin\x86_win32\ 
   C:\Program Files\OpenRTM-aist\2.1.0\OpenCV4.13.0\x64\vc16\bin\

Files to be installed

The files are installed with the following structure.

 <install_dir>
   + OpenRTM-aist
      + 1.x.x  : Older version runtime
      + 2.0.x  : Older version runtime
      + 2.1.x
         + bin: dll、lib Various commands
         + cmake: OpenRTMConfig.cmake
         + coil: coil header files
         + Components
            + C++
               + Examples: C++ sample component
               + OpenCV: OpenCV C ++ sample component
            + Java: Java sample component
            + Python: Python sample component
         + ext: Extension module file
         + hrtm: HRTM Wrapper Library
         + jar: jar files
         + jre: AdoptOpenJDK JRE
         + omniORB 4.3.4
         + OpenCV 4.13.0
         + rtm: OpenRTM-aist header files
            + idl: OpenRTM-aistIDL files
         + util
            + OpenRTP: RTCBuilder and RTSystemEditor tools
            + RTSystemEditor: 
            + VCVerChanger: Tool to specify the version of Visual Studio you are using