Install on Windows

Install OpenRTM-aist

The procedure for installing OpenRTM-aist using the MSI installer is described on the following page.

Installation of software required for development

RTC development requires installation of 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 2010/2012/2013/2015/2017/2019 separately.

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. 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

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 & 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.

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.

What the installer does

The installer does the following:

  • Copy various files under the installation directory (C:\Program Files by default)
  • Create OpenRTM-aist folder under start menu and set various shortcuts
  • Set environment variables
    • Settings when using 64-bit MSI
       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\ 
      • Additional setting to PATH (setting when using 64-bit MSI)
         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\ 
  • Setting when using 32bit MSI
     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\ 
      • Additional setting to PATH
         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\ 

Files to be installed

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

Download

latest Releases

For Begginers

Windows msi(installer) package (only trying samples)

C++,Python,Java,
Toolsを含む
1.2.1-RELEASE

Development environment is required for RT-Component development. See download page for details.

Number of Projects

Choreonoid

Motion editor/Dynamics simulator

OpenHRP3

Dynamics simulator

OpenRTP

Integrated Development Platform

AIST RTC collection

RT-Components collection by AIST

TORK

Tokyo Opensource Robotics Association

DAQ-Middleware

Middleware for DAQ (Data Aquisition) by KEK