Package creation using CPack (common settings on Windows/Linux)


CMake has a function to create an installer package by CPack. RT components generated using OpenRTP version 1.2.0 or later can create installer packages without changing the CMake settings generated by RTC Builder. For Windows environment, you can create msi installer, Linux Ubuntu or Debian deb package, and Fedora environment rpm package.

(Note) However, this package can be created with OpenRTP 1.2.0 version only in C++ or Python RTC, not in Java RTC.

Installation of OpenRTP 1.2.0 version is introduced on the download page of OpenRTM-aist 1.2.0 version.

(G)Advance preparation

Install the software necessary for installer and package creation.

(G)Windows environment

In addition to the software displayed when installing OpenRTM - aist, the following software must be installed.

WiX Toolset msi It is necessary to create an installer.
Graphviz Documents can include flowcharts, system diagrams, etc.

(G)Installing WiX Toolset

  1. Launch the installer and click the [install] button to start the installation.

    WiX Toolset 1-1.png

  2. Installation is complete when "Complete" is displayed on the [install] button. Click the [Exit] button.

    WiX Toolset 2-1.png

(G)Installing Graphviz

  1. Launch the installer and click the [Next] button.

    Graphviz 1-1.png

  2. Change the installation folder as desired, and click the [Next] button.

    Graphviz 2-1.png

  3. Click the [Next] button to start the installation.

    Graphviz 3-1.png

    Graphviz 4-1.png

  4. After installation is completed, click the [Close] button.

    Graphviz 5-1.png

    Since installing from + msi does not pass through the path, you need to manually add the path to the environment variable. Right-click on the command prompt and select Run as administrator.

  5. Execute by entering the following command at the command prompt. > setx /M PATH "%PATH%;[installation folder path]"

    Graphviz 6-1.png

    If succeeded, "Success: specified value has been saved" is displayed.

  6. Close the command prompt and reopen it again.

  7. To check whether each command of Graphviz can be used, enter the following command.

    >dot -V
    Graphviz 7-1.png


    It will be completed if version is displayed.

(G)Linux environment

You can install the necessary packages with the script used to install OpenRTM - aist.

$ sudo sh pkg_install_***.sh -l c++ -l python -c --yes

(G)Mass Installation

Please see Ubuntu, Debian, Fedora, Raspbian's The batch installation procedure is here.

(G)Common settings on Windows/Linux

(G)Installer package name

For Windows, it consists of "RTC project name + RTC version number_OpenRTM-aist version number_ architecture". The version number is a format without the dot, [1.0.0] is [100].
For Linux, it consists of "RTC project name _RTC version number _ architecture".

Example) Package name when package is created with the following settings
  • Project name: RobotController
  • Version number: 1.0.0
  • Version of OpenRTM-aist: 1.2.0
  • For Windows
    • 32bit:RobotController100_rtm120_win32.msi
    • 64bit:RobotController100_rtm120_win64.msi
  • For Ubuntu, Debian
    • 32bit:robotcontroller_1.0.0_i386.deb
    • 64bit:robotcontroller_1.0.0_amd64.deb
  • For Fedora
    • 32bit:RobotController-1.0.0-i686.rpm
    • 64bit:RobotController-1.0.0-x86_64.rpm

"RTC version number" is the value specified on the "Basic" tab of RTC Builder.

RTC version number

(G)Specify the installation directory

By default, OpenRTM-aist is installed in the location where you install and run the created installer package. On Windows environment only, OpenRTM - aist GUI screen when installing, you can optionally change to installation location.

The default installation path is determined by the following conditions.
  • The path of OpenRTM-aist installed in the environment where the installer package was created
  • RTC language
  • When RTC is generated, the module category specified on the basic tab (default is Category)

An arbitrary character string input is possible for module category.

''Module Category name to "Controller"

If this RTC is "C++", if you create an installer in an environment where OpenRTM - aist 1.2.0 32 - bit version is installed on Windows, the default installation destination is as follows.

 C:\Program Files (x86)\OpenRTM-aist\1.2.0\Components\C++\Category\RobotController

When you create a package under Linux environment, the installation destination is as follows. In this example, the module category is "Controller".


(G)Package Maintainer Information

The maintainer information of the package reflects the contents entered in "Creator/Contact" on RTC Builder's "Document Generation" tab. The form must be entered as "name <mail address>". The name must be written in Roman alphabet, and the e-mail address must be enclosed in < >. If it is blank, it will be "unknown". (Default is blank)

Maintener 1-1.png


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