System Editor (Basic Operation)

This section provides an overview and basic operation of the system editor.


In the system editor, the RTC status is displayed in real time. You can also perform system construction and operation verification by changing the connection between ports or changing the state of RTC.

position of system editor system editor

(G)basic operation

I will explain how to connect between RTC ports and how to execute RTC.

(G)Open system editor

To open a new system editor, click the [Open New System Editor] button on the toolbar or select [File] > [Open New System Editor] from the menu bar.

Open New System Editor from 'Toolbar

Open New System Editor from File menu

(G)Placing the RTC in the system editor

To place the RTC in the system editor, drag and drop RTC from the name service view.

Place RTC in system editor

Hold down the [Ctrl] key and click on the name service and select multiple RTCs, you can put them all together on the system editor.

Place multiple RTCs together in the system editor

Note that it is not possible to duplicate the parent RTC or child RTC of an RTC already placed in the system editor or composite RTC. Duplicate RTCs are passed through in multiple RTC deployments and error dialogs are displayed in standalone RTC placement.

duplicate error dialog of RTC placement

(G)Change the state of RTC

This section explains how to change the state of RTC.
In the system diagram, you can select RTC and execute "Activate", "Deactivate", "Reset", "Finalize", "Exit", "Start", "Stop". You can also execute it in the name service view in the same way.


Change the RTC state from the name service view (left) and the system editor (right)

The meaning of these actions is as follows. Please note the execution destination.

Action to change state of RTC

No. Action name Destination Meaning
1 Activate Execute on the selected RTC and its first ExecutionContext Request Activate
2 Deactivate Request Deactivate
3 Reset Request Reset
4 Exit Execute on selected RTC Request Exit
5 Start Execute for the first ExecutionContext of the selected RTC Request Start
6 Stop Request Activate

If the action execution confirmation is enabled in the online editor item "setting screen", a confirmation dialog will be displayed before the action is executed.

Action confirmation dialog of action

By default, we do not do pre-confirmation.
Activate, Deactivate, shortcut keys are assigned. The default setting is as follows.
· Activate → Ctrl + Alt + A
· Deactivate → Ctrl + Alt + D
To change the key binding, you can set it with "General" → "key" in Eclipse standard setting menu.
In addition, as a function to operate the system easily, it is possible to request Activate, Deactivate, Start, Stop, and change to all RTCs included in the system editor from the tool bar and the context menu.

All execution (All Toolbar from the left All Activate, All Deactivate, All Start, All Stop)

All type actions are also performed for ExecutionContexts other than the first one. Please be aware that the result differs from when Activate or Start is performed one by one to the RTC in the screen.

(G)Connect between ports

In the system editor, you can connect between RTC ports.
To connect between ports, drag and drop ports and ports.

Port to Port Connection

After completing the drag and drop, a dialog prompting you to enter necessary information for the connection is displayed.

ConnectorProfile dialog example

In this dialog, create a ConnectorProfile. Although ConnectorProfile needs to be created so that the conditions required by each port are satisfied, this dialog prompts you to enter only values that satisfy the necessary conditions. In the case of a connection that can not satisfy the necessary conditions, a prohibition mark is displayed when drag & drop connection is made and drag & drop can not be performed.

Connection prohibited mark

Connections between ports are roughly divided into connection between data ports and connection between service ports. For details, see System Editor (Connections between Ports)".

(G)Disconnect the connection between the ports

To disconnect between ports, select the connection and click the [Delete] button, or click [Delete] displayed in the context menu.

Delete connection

(G)Disconnect all connections between ports

To disconnect all ports, select the port, right click and execute "All Disconnect".

Full disconnection of connection

(G)Setting up the connection of a single port

You can set ConnectorProfile to a single port connection.
Right click on the port and select "Connect" from the context menu, the ConnectorProfile setting dialog opens just like when connecting to the port.

Single port connection

To delete a single port connection, select "Disconnect" from the right-click context menu and operate from the port disconnection dialog. Delete the target from the list of ConnectorProfiles displayed in the dialog, and click the [OK] button to execute the disconnection process.

Disconnect Port

port disconnect dialog

The port disconnection dialog box displays a list of all ConnectorProfiles for a single port connection and normal port-to-port connection, so it can be used to check a single port connection that is not drawn on the diagram.

(G)Collect logs

With the log notification observer, you can collect RTC log messages with the tool. (OpenRTM-aist 1.1 or later)
Right click on the RTC on the diagram and select "Start Logging" on the context menu to start log collection. In the case of RTC which has already started log collection, the menu display becomes "Stop Logging" and log collection is stopped.
In case of RTC not compatible with observer, menu is inactive.

Start log collecting Stop log collection

Start/stop log collection

Similar to the status notification observer, log collection registers observation of the log notification observer in the RTC and receives notification. Register the observer at the start of log collection from the context menu and release the observer at the time of stop log collection. Also, like the status notification observer, removing the RTC from the diagram releases the observer.
In the log notification, the data structure (log record) including time and log level is sent from RTC, and the tool accumulates log data. Accumulated logs can be viewed using log view.

Log Notification Observer


latest Releases

For Begginers

Windows msi(installer) package (only trying samples)


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

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