Installation on Ubuntu/Debian


deb packages are provided for installing the C++ version of OpenRTM-aist in Ubuntu and Debian. The supported distribution versions are listed on the download page. The corresponding versions may change or be discontinued without notice.

There are two methods of installation available:

  • Use the provided install script.
  • Install via the apt-get or synaptic package managers.

Bulk installation script

Download the installation script or provided by from the download page and execute it with root privilege. This script installs required packages sequentially with apt-get.

By specifying the option, you can now install the package according to your purpose, It is also recommended for those who try to install OpenRTM-aist for the first time and compile the source.

Please check here for detailed installation method and kind of option package.

Using apt-get

Editing source.list

A package repository that can be used from apt-get is provided by This is not included in the default package repositories, so it must be entered into the apt-get settings manually. Append one of the following lines to the file /etc/apt/sources.list:

  deb (code name) main
  deb (code name) main

"(code name)" should be the release name of your distribution version, as shown below.

Version code name
Debian GNU Linux
Debian 7.0 wheezy
Debian 8.0 jessie
Debian 9.0 stretch
Ubuntu 14.04 LTS trusty
Ubuntu 16.04 LTS xenial
Ubuntu 16.10 yakkety
Ubuntu 17.04 zesty

Ubuntun past / current version / codename can be checked from

Install with apt-get

Follow the procedure given below to install using apt-get. Answer the questions that are presented appropriately using "y".

 # apt-get update
 # apt-get install gcc g++ make uuid-dev
 # apt-get install libomniorb4 libomniorb4-dev omniidl4 omniorb4-nameserver
 # apt-get install python-support (Only needed for Debian 3.1 Sarge)
 # apt-get install openrtm-aist openrtm-aist-doc openrtm-aist-dev openrtm-aist-example

To maintain an installed version of OpenRTM-aist at the currently-installed version, append the following lines to the file "/etc/apt/preferences" (this example illustrates holding at version 1.0):

 Package: OpenRTM-aist
 Pin: version 1.0.*

For more details, see

Packages at Launchpad/PPA


Launchpad is a we application and web site ( ) for open source software development which is developed and managed by Canonical Ltd. PPA (Private Package Archive) is an Ubuntu package repository in Launchpad sites, and you can publish your packages on there.

We also provide OpenRTM-aist packages for Ubuntu in PPA, and it is freely available. In case you want to publish your RTC on PPA, you can include OpenRTM-aist PPA packages as dependency in your RTC package. Installation of your RTC package would be completed with PPA's OpenRTM-aist packages. This is advantages of using OpenRTM-aist package in PPA.

Installation of PPA's OpenRTM-aist packages are the following.

Installation of PPA packages

Installation of PPA's OpenRTM-aist packages is much easier than above mentioned way. At first, please add package repository of OpenRTM-aist at PPA. Repository name is openrtm/stable.

 $ sudo add-apt-repository ppa:openrtm/stable

Update package database.

 $ sudo aptitude update

Please install packages. OpenRTM-aist packages are consists of openrtm-aist (run-time library), openrtm-aist-dev (header for development), openrtm-aist-doc (documentation) and openrtm-aist-example (example RTCs).

 $ sudo aptitude install openrtm-aist1.1 openrtm-aist1.1-dev openrtm-aist1.1-example

That's it.

PPA repository structure of OpenRTM-aist

OpenRTM-aist's PPA repository structure is the following.

Repository name Description
ppa:openrtm/stable Basic repository. Normally users install these pacakges. Naming rule is
openrtm-aist[-]{dev,doc,example}: The newest packages
openrtm-aistX.Y[-]{dev,doc,example}: Minor version packages.
ppa:openrtm/unstable Unstable packages. RC-versions, beta versions and so on. Naming rule is
openrtm-aistX.Y.ZrcW[-]{dev,doc,example}: revision/RC-versioned packages.

Checking the install

To confirm the installation succeeded, use the following command.

 $ dpkg -l 'openrtm*'
 | Status=Not/Installed/Config-f/Unpacked/Failed-cfg/Half-inst/t-aWait/T-pend
 |/ Err?=(none)/Hold/Reinst-required/X=both-problems (Status,Err: uppercase=bad)
 ||/ Name           Version        Description
 ii  openrtm-aist   1.0.0-0        OpenRTM-aist runtime libraries and configura
 ii  openrtm-aist-d 1.0.0-0        Header files for OpenRTM-aist development
 pn  openrtm-aist-d <none>         (no description available)
 ii  openrtm-aist-e 1.0.0-0        OpenRTM-aist examples

Package details

The packages contain the following files.


openrtm-aist contains the run-time libraries and commands.

  • Commands
  • License and other documents
  • Example configuration file
  • Libraries


openrtm-aist-dev contains the commands and headers necessary for development with OpenRTM-aist.

  • Commands
  • License and other documents
  • Headers
  • Libraries and other files


openrtm-aist-example contains standalone and loadable sample RT Components and their source files.

  • Sample standalone components
  • Sample source files
  • Sample loadable components
  • License and other documents


openrtm-aist-doc contains the class reference and IDL interfaces reference.

  • Class references
  • IDL references
  • License and other documents


latest Releases : 2.0.0-RELESE

2.0.0-RELESE Download page

Number of Projects


Motion editor/Dynamics simulator


Dynamics simulator


Integrated Development Platform

AIST RTC collection

RT-Components collection by AIST


Tokyo Opensource Robotics Association


Middleware for DAQ (Data Aquisition) by KEK