Let's start OpenRTM-aist in 10 minutes!


The latest version OpenRTM-aist-1.2.1-RELEASE installs C++ version, Python version, Java version.
Also, rtshell will be installed at the same time.

(G)Advance preparation

(G)Installation of Python

If Python is not installed, OpenRTM-aist can not be installed.
Please install Python before installing OpenRTM - aist.
The Python version corresponds to "3.7", "3.6", "2.7".

To download Python please see OpenRTM-aist-1.2.1-RELEASE.

For Python 3.6 or 3.7 installations, check [add python *** to PATH] at the bottom of the first screen.

When installing, please set [Add python.exe to Path] to [Will be installed on local hard drive] on the following screen.
This will automatically set Path for python.exe and Scripts. (Example: Path=C:\Python27\; C:\Python27\Scripts; ...)

Python-install001.png


(G) Installing OpenRTM-aist

Here, we will introduce the installation procedure using 32-bit installer OpenRTM-aist-1.2.1-RELEASE_x86.msi on Windows 10.

To download the installer please see OpenRTM-aist-1.2.1-RELEASE.

[Installation procedure]
  1. Launch the installer and click [Next].

    OpenRTM121-install001.png


  2. This is the page of the license agreement. Accept the Software License Terms and click Next.

    OpenRTM121-install002.png


  3. Select the installation type. Leave the default and click [Next].

    Openrtm121-Install003.png


  4. Select the version of Visual Studio.
    Set the version of Visual Studio used in the C++ version to the system environment variable.
    Select the version of Visual Studio that is installed and click [Next].

    (*) Please refer to OpenRTM-aist-1.2.1-RELEASE for downloading Visual Studio.
    (*) The setting of the system environment variable RTM_VC_VERSION can be changed with VCVerChanger after the installation is completed.
    ((How to use VCVerChanger)
    (*) Since it is irrelevant in the Python version and Java version, please click [Next] with default.

    Openrtm121-Install004.png


  5. Select the setup type.
    OpenRTM-aist a runtime library from Visual Studio 2010 to 2017 of OpenRTM-aist's C++, Java, Python, OpenRTP, RTSystemEditorRCP, rtshell, OpenRTM-aist-C++ versions of OpenRTM-aist. Runtime libraries from 1.0.0 to 1.2.1 will be installed. If you do not seem to have any particular reason for change, click [Standard]. & br;...

    Openrtm121-Install005.png


  6. Click [Install] to start the installation.

    Openrtm121-Install006.png


    Openrtm121-Install007.png



  7. Installation is over. Click [Finish] to exit the installer.

    Openrtm121-Install008.png


(G)Run sample components

Although not required, from here we will launch many applications registered in the start menu. Since it is hard to trace in turn from the start menu every time, Please display the start menu from the start button, right click on [OpenRTM-aist 1.2.1 x86_64] > [OpenRTP] and select [Open file location].

Startmenu001.png

Open file location


Startmenu002.png

Start Menu Folder


In this way, the folder of the start menu is opened, making it easy to access various applications.

(G)Starting rtm-naming

Click Start Naming Service. The following console screen is displayed.

StartNameService001.png

Start Naming Service



(G)Using ConsoleInComp, ConsoleOutComp

ConsoleInComp, ConsoleOutComp is a sample showing how to use DataInPort and DataOutPort. The number entered on the ConsoleIn side is displayed on the ConsoleOut side.

(G)Starting sample components

ConsoleInComp and ConsoleOutComp are samples that show how to use DataInPort and DataOutPort. The number entered on the ConsoleIn side is displayed on the ConsoleOut side. Here we use these two components to check the operation.

Double-click ConsoleIn.bat and ConsoleOut.bat in the [OpenRTM-aist 1.2.1 x86_64]> [C ++ _ Example] folder. If the [Windows Security Alert] screen is displayed, check [Private network (home network, internal network, etc.)] and click [Allow access (A)]. The following console screen is displayed.

ConsoleIn001.png ConsoleOut001.png

ConsoleIn.bat and ConsoleOut.bat



(G)OpenRTP startup

Click on the desktop shortcut to launch it. In the start menu, select [OpenRTM-aist 1.2.1 x86_64]> [OpenRTP]. You can also start it by double-clicking OpenRTP from the folder screen you opened earlier.

Please specify a suitable place for the workspace.

OpenRTP001_en.png

Select Workspace



Since the "Welcome" screen is not necessary at the moment, please click the [×] button on the [Welcome] tab in the upper left to close the screen.

OpenRTP002_en.png

Screen at initial startup



Using RTSystemEditor

Click [Open Perspective] in the upper right of the screen. Select [RT System Editor] in the displayed dialog and click [Open] to start RTSystemEditor.

OpenRTP003_en.png OpenRTP004_en.png

Switching perspective



The component is displayed in NameServiceView. Although it is not displayed because it is folded at the beginning, you can check ConsoleIn and ConsoleOut components by clicking [>] and expanding.

OpenRTP005_en.png

Component activation confirmation



(*) If name server is not displayed in NameServerView, add localhost manually. Click [Add Name Server] in the image to display the dialog. Enter 'localhost' and click OK to add it. If it still does not start, close all console screens and try the procedure from starting Naming Service again.

OpenRTP006_en.png OpenRTP007_en.png

Add name server



Click Open New System Editor from the toolbar to display SystemDiagram.

OpenRTP008_en.png

Display SystemDiagram



If you drag and drop the ConsoleIn and ConsoleOut components in the NameServiceView onto the System Diagram, it will look like the image below.

OpenRTP009_en.png

Drag and drop component



Drag and drop between data ports to connect the components. After that, a dialog prompting you to enter necessary information for the connection is displayed, and click [OK].

OpenRTP010_en.png OpenRTP011_en.png

Component connection



It is connected as shown in the image below.

OpenRTP012_en.png

Connection completed



Activate the state of the component. [All Activate] Please click. It will be successful if the color of the component changes from blue to light green. Components can also be individually selected to Activate.(If [All Activate] is not displayed, try restarting Openrtp. Alternatively, you may activate individual components.)

OpenRTP013_en.png

OpenRTP014_en.png

Activate complete



(G)Operation check on the console screen

Next, check the operation on the console screen. After connecting with RTSystemEditor, "Please input number:" will be displayed on the ConsoleIn screen.

Console001.png

Please input number:


When entering an arbitrary numerical value on the ConsoleIn screen and pressing [Enter], the numerical value is displayed on the ConsoleOut screen.

Console002.png Console003.png

Check operation

(*) If you enter a value other than a number or a number that is too large, the operation may become strange. In that case, stop the operation of the batch file with the Cntrl-C key and try again from the start of the batch file.

To exit the component, click [All Deactivate] from the toolbar. Then right-click the component and [Exit].
(*) If it takes time to deactivate, please stop entering the numerical value of ConsoleIn, so please enter something.

Console004_en.png

Deactivate component

Console005_en.png

End component


Confirmation of operation using ConsoleIn and ConsoleOut is now complete.


(G)Using rtshell

In OpenRTM - aist - 1.2.1, rtshell is installed as a standard. RTts can be activated, deactivated, terminated, etc. from the command line by using rtshell.

(*) When you install 64bit version, it may not be able to operate due to lack of dll. In that case please run Windows Update.

(G)RTC operation

Activate the sample component, connect the data port from the command line with rtshell, activate, deactivate, and terminate the RTC.

(G)Start rtm-naming

Click the Start Naming Service in the [OpenRTM-aist 1.2.1 x86] folder to start it.

(G)Starting sample components

First, start the sample component and operate the started component with rtshell. Click on ConsoleIn.bat and ConsoleOut.bat in the [OpenRTM-aist 1.2.1 x86] > [Python_Examples] folder to launch the console screen. If the [Windows Security Alert] screen is displayed, check [Private network (home network, internal network, etc.)] and click [Allow access (A)]. At this point, only the startup command of the py program at startup is displayed on the console screen, and the screen output is different from the case of C ++ Example that was executed earlier.

(G)Operation from command prompt

Next, start [Windows system tool] > [command prompt] from the start menu.

Console006.png

Start Command Prompt


First, if you have not set a path in C:\Python27\Scripts, set the path with the following command.

 set PATH=C:\Python27\Scripts;%PATH%

Next, connect the data port with the following command.

 rtcon /localhost/ConsoleIn0.rtc:out /localhost/ConsoleOut0.rtc:in

Then the following strings are displayed in ConsoleIn.py, ConsoleOut.py console.

 ------------------------------
 Listener:        ON_CONNECT
 Profile::name:   outin
 Profile::id:     4d622f80-135f-11e6-b923-001c4231a7a3
 ------------------------------


Just to be sure, check with RTSystemEditor.
By dragging and dropping the NameServiceView component onto the System Diagram, you can confirm that the data port is connected.

Console007_en.png

Confirm data port connection



Next, activate RTC with the following command.

 rtact /localhost/ConsoleIn0.rtc /localhost/ConsoleOut0.rtc

If activation is successful, "Please input number:" will be displayed on the ConsoleIn.py console. Looking at RTSystemEditor, you can confirm that RTC has been activated.

Console008_en.png

Confirm activation


Then, enter the value on the ConsoleIn.py screen and press [Enter], the number will be displayed on the ConsoleOut.py screen.

Console009.png Console010.png

ConsoleIn.py and ConsoleOut.py



Deactivate RTC with the following command.

 rtdeact /localhost/ConsoleIn0.rtc /localhost/ConsoleOut0.rtc

(*) If ConsoleIn can not be deactivated, please enter a numerical value because it is stopped by entering a numerical value.

Finally, please terminate RTC with the following command.

 rtexit /localhost/ConsoleIn0.rtc
 rtexit /localhost/ConsoleOut0.rtc


(G)Next. . .

Please see the link below.


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