Motion editor/Dynamics simulator
Integrated Development Platform
AIST RTC collection
RT-Components collection by AIST
Tokyo Opensource Robotics Association
Middleware for DAQ (Data Aquisition) by KEK
The installer of OpenRTM-aist can install a necessary package such as C++, Python and Java language with one installer since 1.1.2-RELEASE.
Python 2.7 installation
If Python 2.7 is not installed, OpenRTM - aist can not be installed. Please install Python 2.7 first. OpenRTM-aist need Python 2.7. If you don't install pyhton yet, download and install python-2.7.10 before the intsalling OpenRTM-aist.When installing, change the setting of "Add python.exe to Path" and select "Will be installed on local hard drive". & br; This will let Pthh pass through python.exe and Scripts. (Example: Path = C:\Python27\; C:\Python27\Scripts; ...)
Installation of OpenRTM-aist
Here, we will introduce the procedure using the 32-bit installer OpenRTM-aist-1.1.2-RELEASE_x86.msi. To download the installer please see OpenRTM-aist-1.1.2-RELEASE.
If you select "Typical", there are the following contents and packages installed. OpenRTM-aist (C++, Java, Python), OpenRTP, RTSystemEditorRCP, rtshell, OpenRTM-aist(C++) Runtime Environment for Visual Studio 2008 ~ 2015, OpenRTM-aist1.0.0 ~ 1.1.1 Runtime Environment
Note: If you use Visual Studio except for 2013 (vc12), set RTM_VC_VERSION environment variables.
Execution of sample components
You will start a lot of applications registered from here to Start menu.
Because it is troublesome to trace order from the start menu every time and to start the application, the following operation is recommended.
please show apps view, and Right click on OpenRTP of OpenRTM-aist-1.1.2. ant Click "Open file location". and then, move a one folder up.
The folder of the start menu is opened. It becomes easy to access various applications.
ConsoleInComp and ConsoleOutComp are samples that showed the use of InPort and OutPort.Please input the numerical value from the screen of ConsoleIn. Then, ConsoleOut displays the numerical value that you input to ConsoleIn.
Start the name server
Please start Start Naming Service of [OpenRTM-aist 1.1.2]-[Tools].
Start the sample components
After starting the name server, start some suitable components.
Please move a folder of [OpenRTM-aist 1.1.2]-[C++]-[Components]-[Examples]. And then, Start the ConsoleInComp.exe and ConsoleOutComp.exe executables, causing two consoles to open.
The operation of OpenRTP is shown. Please click OpenRTP of [OpenRTM-aist 1.1.2]-[Tools]. OpenRTP starts.
If The workspace launcher dialog will be displayed, Choose a appropriate location.
Click [×] button of the [Welcome] tab.
Click the perspectives button, and choose "RT System Editor". RTSystemEditor starts.
note: Please add localhost by hand power when the name server is not displayed in NameServerView. Please click the add button of the name server of the image and put out the dialog. Please input as localhost, and click OK.
The name server running on localhost will appear in the Name Service View. Open the tree branches by clicking the arrows to find the two components you started.
Please click [OpenNewSystemEditor]. SystemDiagram is displayed.
Please drag-and-drop the sample components of NameServiceView to SystemDiagram.
Please connect the components. Please drag-and-drop between the data ports. The dialog that presses the input of information necessary for the connection is displayed. Please choose push with DataflowTypeType and click OK.
The connection was completed.
Please make the state of the component Activate. Please right-click in the component and select [Activate]. When the color of the component changes from blue into bright green, it is a success.
Next, please confirm the operation on the console screen. When components are activated, "Please input number" is displayed in the console of ConsoleInComp.exe.
Please input the numerical value to ConsoleInComp.exe and press 'Enter'. The numerical value is displayed in the console of ConsoleOutComp.exe.
If the input other than the numerical value are input, it becomes an error (red). If a too large numerical value is input, it becomes an error (red). Please end the component pressing [Ctrl] key and [C] key at the same time on the console screen when the component occurs the error.
The confirmation of operation using ConsoleInComp.exe and ConsoleOutComp.exe ended by this.
Close Components after components are deactivated.
note: ※ If it takes time to deactivate, please stop entering ConsoleInComp.exe by entering the numerical value, so please enter something.
Use to rtshell
rtshell is installed with OpenRTM-aist-1.1.2.
rtshell provides commands used to manage individual RT components and managers, as well as complete RT Systems.
note: If you install rtshell for 64bit, 64bit might not work becase of a depend dll missing, Windows update start.
Operation RTC with rtshell
Start sample components
please start the sample components that ConsoleIn.py、ConsoleOut.py of [OpenRTM-aist 1.1.2]-[Python]-[Components]-[Examples]. ConsoleIn.py and ConsoleOut.py have the same work as ConsoleInComp.exe and ConsoleOutComp.exe.
Operation from the command prompt
Please start the command prompt.
If python is not set to windows path yet, run this command line.
Next, connect the data ports of the components using a command like the following.
The following messages is displayed in the consoles of ConsoleIn.py and ConsoleOut.py.
You will confirmed on RTSystemEditorRCP that the detaport is connected.
Please run the following command line that RTC activate.
If ConsoleIn.py success to activate, The console screen desplay "Please input number:".
You will confirmed on RTSystemEditorRCP that the components is activated.
Input a number to the console of ConsoleIn.py then, the console of ConsoleIn.py display the number.
Please run the following command line that RTC deactivate.
note: If ConsoleIn keep to activate, input a number to the console of ConsoleIn, please.
Please run the following command line. The component is closed.
See the following link.