Install OpenRTM-aist (Java Version) 1.2

Explains how to install OpenRTM-aist(Java Version) 1.2.

Install to Windows

Install OpenRTM-aist

The procedure for installing OpenRTM-aist using the MSI installer is described on the following page.
  • Installing OpenRTM-aist1.2 (Windows, using MSI installer) Download the .msi file. The file name terminated by "x86_64.msi" for the 64-bit version, and "x86.msi" for the 32-bit version. After downloading, double-click the .msi file to start the installation program. If you select [Standard] during installation, all configurations supported by this .msi file will be installed. If you want to install only a part of the configuration, select [Custom]. (Because for the other configurations than [Standard], our validation was not enough, it is recommended to install with [Standard].)

Install JDK8

OpenRTM-aist-Java-1.2.x requires a JDK8-equivalent JDK (OpenRTM-aist will not work properly with JDK11). It should be installed in advance. See below for information on obtaining and installing JDK8.

JDK installation confirmation

Open a command prompt,type-in:

 C:\> java -version
Installation is Ok if the installed Java version is displayed. For example, it is displayed as follows.
 openjdk version "1.8.0_232"
 OpenJDK Runtime Environment (build 1.8.0_232-b09)
 OpenJDK 64-Bit Server VM (build 25.232-b09, mixed mode)

What the installer does

The installer does the following:
  • Copy various files under the installation directory (default is C:\Program Files)
  • Create OpenRTM-aist folder under start menu and set various shortcuts
  • Set environment variables
    • In 64-bit MSI file case
       RTM_BASE=C:\Program Files\OpenRTM-aist\ RTM_IDL_DIR=C:\Program Files\OpenrRTM-aist\1.2.1\rtm\idl\ RTM_JAVA_ROOT=C:\Program Files\OpenRTM-aist\1.2.1\ RTM_ROOT=C:\Program Files\OpenRTM-aist\1.2.1\ RTM_VC_VERSION=vc14
       OMNI_ROOT=C:\Program Files\OpenRTM-aist\1.2.1\omniORB\4.2.1_% 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\
    • In 32-bit MSI case
       RTM_BASE=C:\Program Files (x86)\OpenRTM-aist\ RTM_IDL_DIR=C:\Program Files (x86)\OpenrRTM-aist\1.2.1\rtm\idl\ RTM_JAVA_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.2.1\ RTM_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.2.1\ RTM_VC_VERSION=vc14
       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 FilessOpenRTM-aist\1.2.1\cmake\-- Added paths in 64-bit MSI file case
       C:\Program Files\OpenRTM-aist\1.2.1\bin\% RTM_VC_VERSION%\ C:\Program Files\OpenRTM-aist\1.2.1\omniORB\4.2.3_% RTM_VC_VERSION%\bin\x86_win32\ C:\Program Files\OpenRTM-aist\1.2.1\OpenCV3.4\x64\% RTM_VC_VERSION%\bin\
    • Added paths in 32-bit MSI file case
       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 runtime
      + 1.2.1
         + bin: dll, lib various commands
         + cmake: OpenRTMConfig.cmake
         + coil: coil header file
         + Components
            + C ++
               + Examples: C ++ sample components
               + OpenCV: OpenCV C ++ sample component
            + Java: Java sample component
            + Python: Python sample component
         + etc: rtc.conf sample
         + jar: jar file
         + jre: OpenJDK JRE
         + omniORB
         + OpenCV3.4
         + rtm: OpenRTM-aist header file
            + ext: extension module file
            + idl: OpenRTM-aistIDL file
         + util
            + ExcelControlpy: Python based RTC for Microsoft Office
            + OpenRTP: RTCBuilder and RTSystemEditor tools
            + PowerPointControlpy: RTC for Microsoft Office PowerPoint
            + python_dist: Common library for python-based tools
            + RTCDT: A tool to support the development of Python-based RTC
            + rtc-template: An old tool that provides similar functions to RTCBuilder
            + RTSystemEditor: RTSystem Editor only file
            + VCVerChanger: Tool to specify the version of Visual Studio used
            + WordContrlpy: Python based RTC for Microsoft Office Word

Install to Ubuntu/Debian

ubuntu_logo2.png

The Java version of OpenRTM-aist has a deb package available for Ubuntu and Debian GNU Linux. The supported distribution versions can be found on the download page. Please note that supported versions and support for Ubuntu/Debian GNU Linux are subject to change without notice.

Bulk installation script

Download the installation script "pkg_install_ubuntu.sh" or "pkg_install_debian.sh" provided by openrtm.org from the specified URL and execute it with root privileges. This script installs necessary packages sequentially using apt-get.

By specifying the option, it is possible to install the package that suits the purpose.

After downloading the bulk installation script, move to the download destination directory,

For Ubuntu, type-in:

 $ sudo sh pkg_install_ubuntu.sh -l java --yes

For Debina, after getting root privileges by 'su' command, type-in:

 # sh pkg_install_debian.sh -l java --yes

For details on how to download the batch installation script, detailed installation methods, and the types of options that can be specified, see the Bulk Installation Script page.

Install OpenRTP

RTC Builder and RTSystem Editor are used for general Ubuntu/ Debian environment development. In that case, OpenRTP is required. Install OpenRTP using the bulk installation script. In Ubuntu, in the directory where pkg_install_ubuntu.sh is located

For Ubuntu, type-in:

 $ sudo sh ./pkg_install_ubuntu.sh -l openrtp --yes

After getting root privileges with su for Debian, type-in:

 # sh pkg_install_debian.sh -l openrtp --yes

Install JDK8

To use OpenRTM-aist for Java, a Java environment equivalent to JDK8 is required. (In some cases, JDK8 is installed in the default environment, but in Ubuntu 18.04 JDK11 is installed, so JDK8 must be installed.) Refer to the following for information on obtaining and installing JDK8.

Confirm installation

Check the installation by type-in:

 $ dpkg -l 'openr*'
 Desired=Unknown/Install/Remove/Purge/Hold
 | Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
 |/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
 ||/ Name                     Version           Architecture      Description
 +++-========================-=================-=================-=====================================================
 un  openrc                   <none>            <none>            (no description available)
 ii  openrtm-aist:amd64       1.2.1-0           amd64             OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm-aist-dev:amd64   1.2.1-0           amd64             OpenRTM-aist headers for development
 ii  openrtm-aist-idl:amd64   1.2.1-0           amd64             OpenRTM-aist idls for development
 ii  openrtm-aist-java:amd64  1.2.1-0           amd64             OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm-aist-java-doc    1.2.1-0           all               Documentation for openrtm-aist-java
 ii  openrtm-aist-java-exampl 1.2.1-0           amd64             OpenRTM-aist-Java examples
 ii  openrtp:amd64            1.2.1-0           amd64             OpenRTP, Open RT Platform distributed by AIST

Package details

The contents of each package are as follows.

openrtm-aist

openrtm-aist contains runtime libraries and commands.

  • command
     /usr/bin/rtcd
     /usr/bin/rtcprof
     /usr/bin/rtm-config
     /usr/bin/rtm-naming
  • License etc.
     /usr/share/doc/openrtm-aist/changelog.gz
     /usr/share/doc/openrtm-aist/README.Debian
     /usr/share/doc/openrtm-aist/README
     /usr/share/doc/openrtm-aist/README.jp
     /usr/share/doc/openrtm-aist/copyright
     /usr/share/doc/openrtm-aist/changelog.Debian.gz
  • Sample configuration file
     /usr/etc/rtc.conf.sample
  • Library
    • In 32-bit case,
       /usr/lib/i386-linux-gnu/libRTC-X.X.X.so
       /usr/lib/i386-linux-gnu/libRTC.a
       /usr/lib/i386-linux-gnu/libRTC.la
       /usr/lib/i386-linux-gnu/libcoil-X.X.X.so
       /usr/lib/i386-linux-gnu/libcoil.a
       /usr/lib/i386-linux-gnu/librtmCamera.a
       /usr/lib/i386-linux-gnu/librtmCamera.la
       /usr/lib/i386-linux-gnu/librtmCamera.so.X.X.X
       /usr/lib/i386-linux-gnu/librtmManipulator.a
       /usr/lib/i386-linux-gnu/librtmManipulator.la
       /usr/lib/i386-linux-gnu/librtmManipulator.so.X.X.X
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/FileNameservice.la
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/FileNameservice.so.X.X.X
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.a
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.la
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.so.X.X.X
       /usr/lib/i386-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.a
       /usr/lib/i386-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.la
       /usr/lib/i386-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.so.X.X.X
       /usr/lib/i386-linux-gnu/openrtm-1.2/ssl/SSLTransport.la
       /usr/lib/i386-linux-gnu/openrtm-1.2/ssl/SSLTransport.so.X.X.X
       /usr/lib/i386-linux-gnu/pigconfig/openrtm-aist.pc
    • In 64-bit case,
       /usr/lib/x86_64-linux-gnu/libRTC-X.X.X.so
       /usr/lib/x86_64-linux-gnu/libRTC.a
       /usr/lib/x86_64-linux-gnu/libRTC.la
       /usr/lib/x86_64-linux-gnu/libcoil-X.X.X.so
       /usr/lib/x86_64-linux-gnu/libcoil.a
       /usr/lib/x86_64-linux-gnu/librtmCamera.a
       /usr/lib/x86_64-linux-gnu/librtmCamera.la
       /usr/lib/x86_64-linux-gnu/librtmCamera.so.X.X.X
       /usr/lib/x86_64-linux-gnu/librtmManipulator.a
       /usr/lib/x86_64-linux-gnu/librtmManipulator.la
       /usr/lib/x86_64-linux-gnu/librtmManipulator.so.X.X.X
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.la
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.so.X.X.X
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.a
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.la
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.so.X.X.X
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.a
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.la
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.so.X.X.X
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ssl/SSLTransport.la
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ssl/SSLTransport.so.X.X.X
       /usr/lib/x86_64-linux-gnu/pigconfig/openrtm-aist.pc

openrtm-aist-dev

openrtm-aist-dev includes commands and header files that are required for RT system development.

  • Commands
     /usr/bin/coil-config
     /usr/bin/rtc-template
     /usr/bin/rtm-skelwrapper
  • Lincense, etc.
     /usr/share/doc/openrtm-aist-dev/changelog.Debian.gz
     /usr/share/doc/openrtm-aist-dev/changelog.gz
     /usr/share/doc/openrtm-aist-dev/copyright
  • Header, etc.
     /usr/include/coil-1.2/coil/Affinity.h
     /usr/include/coil-1.2/coil/Allocator.h
     ...
     /usr/include/coil-1.2/coil/stringutil.h
     /usr/include/openrtm-1.2/rtm/BufferBase.h
     /usr/include/openrtm-1.2/rtm/BufferStatus.h
     ...
     /usr/include/openrtm-1.2/rtm/config_rtc.h
     /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.hh
     /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.idl
     ...
     /usr/include/openrtm-1.2/rtm/ext/ManipulatorCommonInterface_MiddleStub.h
     /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/ArtExecutionContext.h
     /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/rtc.conf.sample
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.h
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.idl
     ...
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredECStub.h
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.hh
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.idl
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECDynSK.cc
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECSK.cc
     /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt
     /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/RTPreemptEC.h
     /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/rtc.conf.sample
     /usr/include/openrtm-1.2/rtm/ext/local_service/nameservice_file/FileNameservice.h
     /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/FluentBit.h
     /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/fluentbit.conf
     /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.hh
     /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.idl
     ...
     /usr/include/openrtm-1.2/rtm/ext/sdo/logger/LoggerStub.h
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserver.idl
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverConsumer.h
     ...
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverStub.h
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.hh
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.idl
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverDynSK.cc
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverSK.cc
     /usr/include/openrtm-1.2/rtm/idl/BasicDataType.hh
     /usr/include/openrtm-1.2/rtm/idl/BasicDataType.idl
     ...
     /usr/include/openrtm-1.2/rtm/idl/device_interfaces/Ranger.idl
     /usr/include/openrtm-1.2/rtm/version.h
     /usr/include/openrtm-1.2/rtm/version.txt
  • Library and others
    • In 32-bit case,
       /usr/lib/i386-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake
       /usr/lib/i386-linux-gnu/openrtm-1.2/py_helper/README_gen.py
       /usr/lib/i386-linux-gnu/openrtm-1.2/py_helpver/cxx_gen.py
       ...
       /usr/lib/i386-linux-gnu/openrtm-1.2/py_helpver/yat.py
       /usr/lib/i386-linux-gnu/pkgconfig/libcoil.pc
       
    • In 64-bit case,
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helper/README_gen.py
       /usr/lib/x86-64-linux-gnu/openrtm-1.2/py_helpver/cxx_gen.py
       ...
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helpver/yat.py
       /usr/lib/x86_64-linux-gnu/pkgconfig/libcoil.pc

openrtm-aist-idl

  • idl file, etc.
     /etc/profile.d/openrtm-aist-idl.sh
     /usr/include/openrtm-1.2/rtm/idl/BasicDataType.idl
     /usr/include/openrtm-1.2/rtm/idl/CameraCommonInterface.idl
     ...
     /usr/include/openrtm-1.2/rtm/idl/SharedMemory.idl
     /usr/share/openrtm-1.2/idl/BasicDataType.idl
     /usr/share/openrtm-1.2/idl/CameraCommonInterface.idl
     ...
     /usr/share/openrtm-1.2/idl/SharedMemory.idl
  • Lincense, etc.
     /usr/share/doc/openrtm-aist-idl/changelog.Debian.gz
     /usr/share/doc/openrtm-aist-idl/changelog.gz
     /usr/share/doc/openrtm-aist-idl/copyright

openrtm-aist-java

  • Commands
     /usr/bin/rtcd_java
     /usr/bin/rtcprof_java
  • a script for setting environment variables
     /etc/profile.d/openrtm-aist-java.sh
  • jar files
    • In 64-bit case,
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/License.txt
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/LogicalTimeTriggeredEC.jar
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/NameserviceFile.jar
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/OpenRTM-aist-1.2.0.jar
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/commons-cli-1.1.jar
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/jna-4.2.2.jar
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/jna-platform-4.2.2.jar
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/rtcd.jar
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/rtcprof.jar
    • In 32-bit case,
       /usr/lib/i386-linux-gnu/openrtm-1.2/jar/License.txt
       /usr/lib/i386-linux-gnu/openrtm-1.2/jar/jna-platform-4.2.2.jar
       /usr/lib/i386-linux-gnu/openrtm-1.2/jar/rtcprof.jar
       /usr/lib/i386-linux-gnu/openrtm-1.2/jar/rtcd.jar
       /usr/lib/i386-linux-gnu/openrtm-1.2/jar/commons-cli-1.1.jar
       /usr/lib/i386-linux-gnu/openrtm-1.2/jar/NameserviceFile.jar
       /usr/lib/i386-linux-gnu/openrtm-1.2/jar/LogicalTimeTriggeredEC.jar
       /usr/lib/i386-linux-gnu/openrtm-1.2/jar/jna-4.2.2.jar
       /usr/lib/i386-linux-gnu/openrtm-1.2/jar/OpenRTM-aist-1.2.1.jar

openrtm-aist-java-example

Java version sample RTC, the class files and the source files and the startup script files

 /usr/share/openrtm-1.2/components/java/* 
 /usr/share/openrtm-1.2/components/java/RTMExamples/AutoTest/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/Composite/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/ConfigSample/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/ExtTrigger/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/control/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/model/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/view/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/MyService.idl
 /usr/share/openrtm-1.2/components/java/RTMExamples/SeqIO/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SeqIO/view/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SimpleIO/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SimpleService/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SinCosOut/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/Throughput/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/TopicTest/*

openrtm-aist-java-doc

openrtm-aist-java-doc includes Japanese/English class reference files.

 /usr/share/openrtm-1.2/doc/java/JavaDoc/OpenRTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/OpenRTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/_SDOPackage/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/_SDOPackage/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/Version.html
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/class-use
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/OpenRTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/OpenRTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/_SDOPackage/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/_SDOPackage/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/index-files/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/class-use/Logbuf.html
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/*

openrtp

In openrtp installation, since so many files are installed, the listing is not made. Depend on your needs, use the following command.

 $ dpkg -L openrtp

Install to Raspbian

The Java version of OpenRTM-aist has a deb package available for Raspbian. The supported distribution versions can be found on the download page. Please note that Raspbian support versions and support are subject to change without notice.

Install JDK8

To use OpenRTM-aist for Java, a Java environment equivalent to JDK8 is required. Obtain and install JDK8 by referring to the link below.

Batch installation script

Download the installation script "pkg_install_raspbian.sh" provided by openrtm.org from the specified URL and execute it with root privileges. This script installs necessary packages sequentially using apt-get.

By specifying the option, it is possible to install the package that suits the purpose.

Using the batch installation script, after downloading, move to the download destination directory, type-in:

 $ sudo sh pkg_install_raspbian.sh -l java --yes

For details on how to download the bulk installation script, detailed installation methods, and the types of options that can be specified, see the Bulk Installation Script page.

Install rtshell

There is currently no support for OpenRTP in the Raspbian environment. Therefore, in the Raspian environment, the RTC cannot be controlled locally using the GUI (RTSystemEditor). There are two ways to control RTC: one is to start RTSystemEditor on another supported host remotely and control it from there, and the other is to control it locally using a tool called rtshell. Please refer to the link below for installing rtshell. How to install rtshell

Confirm installation

Check the installation.

 $ dpkg -l 'openrt*'
 Desired=Unknown/Install/Remove/Purge/Hold
 | Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
 |/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
 ||/ Name                     Version           Architecture      Description
 +++-========================-=================-=================-=====================================================
 ii  openrtm-aist:amd64       1.2.1-0           amd64             OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm-aist-dev:amd64   1.2.1-0           amd64             OpenRTM-aist headers for development
 ii  openrtm-aist-idl:amd64   1.2.1-0           amd64             OpenRTM-aist idls for development
 ii  openrtm-aist-java:amd64  1.2.1-0           amd64             OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm-aist-java-doc    1.2.1-0           all               Documentation for openrtm-aist-java
 ii  openrtm-aist-java-exampl 1.2.1-0           amd64             OpenRTM-aist-Java examples
 ii  openrtm-aist-python      1.2.1-0           amd64             OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm-aist-python-doc  1.2.1-0           all               Documentation for openrtm-aist-python
 ii  openrtm-aist-python-exam 1.2.1-0           amd64             OpenRTM-aist-Python examples

 $ pip show rtshell-aist
 Name: rtshell-aist
 Version: 4.2.2
 Summary: Shell commands for managing RT Components and RT Systems.
 Home-page: http://github.com/gbiggs/rtshell
 Author: Geoffrey Biggs and contributors
 Author-email: geoffrey.biggs@aist.go.jp
 License: LGPL3
 Location: /usr/local/lib/python2.7/dist-packages
 Requires: rtsprofile-aist, rtctree-aist
 Required-by:

Package details

The contents of each package are as follows.

openrtm-aist

openrtm-aist includes runtime library and commands.

  • Commands
     /usr/bin/rtcd
     /usr/bin/rtcprof
     /usr/bin/rtm-config
     /usr/bin/rtm-naming
  • License, etc.
     /usr/share/doc/openrtm-aist/changelog.gz
     /usr/share/doc/openrtm-aist/README.Debian
     /usr/share/doc/openrtm-aist/README
     /usr/share/doc/openrtm-aist/README.jp
     /usr/share/doc/openrtm-aist/copyright
     /usr/share/doc/openrtm-aist/changelog.Debian.gz
  • Sample configuration file
     /usr/etc/rtc.conf.sample
  • Libraries
     /usr/lib/x86_64-linux-gnu/libRTC-X.X.X.so
     /usr/lib/x86_64-linux-gnu/libRTC.a
     /usr/lib/x86_64-linux-gnu/libRTC.la
     /usr/lib/x86_64-linux-gnu/libcoil-X.X.X.so
     /usr/lib/x86_64-linux-gnu/libcoil.a
     /usr/lib/x86_64-linux-gnu/librtmCamera.a
     /usr/lib/x86_64-linux-gnu/librtmCamera.la
     /usr/lib/x86_64-linux-gnu/librtmCamera.so.X.X.X
     /usr/lib/x86_64-linux-gnu/librtmManipulator.a
     /usr/lib/x86_64-linux-gnu/librtmManipulator.la
     /usr/lib/x86_64-linux-gnu/librtmManipulator.so.X.X.X
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.la
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.so.X.X.X
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.a
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.la
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.so.X.X.X
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.a
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.la
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.so.X.X.X
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/ssl/SSLTransport.la
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/ssl/SSLTransport.so.X.X.X
     /usr/lib/x86_64-linux-gnu/pigconfig/openrtm-aist.pc

openrtm-aist-dev

openrtm-aist-dev includes commands and files that are required for RT system development.

  • Commands
     /usr/bin/coil-config
     /usr/bin/rtc-template
     /usr/bin/rtm-skelwrapper
  • License, etc.
     /usr/share/doc/openrtm-aist-dev/changelog.Debian.gz
     /usr/share/doc/openrtm-aist-dev/changelog.gz
     /usr/share/doc/openrtm-aist-dev/copyright
  • Header files, etc.
     /usr/include/coil-1.2/coil/Affinity.h
     /usr/include/coil-1.2/coil/Allocator.h
     中略
     /usr/include/coil-1.2/coil/stringutil.h
     /usr/include/openrtm-1.2/rtm/BufferBase.h
     /usr/include/openrtm-1.2/rtm/BufferStatus.h
     中略
     /usr/include/openrtm-1.2/rtm/config_rtc.h
     /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.hh
     /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.idl
     中略
     /usr/include/openrtm-1.2/rtm/ext/ManipulatorCommonInterface_MiddleStub.h
     /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/ArtExecutionContext.h
     /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/rtc.conf.sample
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.h
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.idl
     中略
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredECStub.h
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.hh
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.idl
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECDynSK.cc
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECSK.cc
     /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt
     /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/RTPreemptEC.h
     /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/rtc.conf.sample
     /usr/include/openrtm-1.2/rtm/ext/local_service/nameservice_file/FileNameservice.h
     /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/FluentBit.h
     /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/fluentbit.conf
     /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.hh
     /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.idl
     中略
     /usr/include/openrtm-1.2/rtm/ext/sdo/logger/LoggerStub.h
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserver.idl
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverConsumer.h
     中略
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverStub.h
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.hh
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.idl
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverDynSK.cc
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverSK.cc
     /usr/include/openrtm-1.2/rtm/idl/BasicDataType.hh
     /usr/include/openrtm-1.2/rtm/idl/BasicDataType.idl
     中略
     /usr/include/openrtm-1.2/rtm/idl/device_interfaces/Ranger.idl
     /usr/include/openrtm-1.2/rtm/version.h
     /usr/include/openrtm-1.2/rtm/version.txt
  • Libraries and others
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helper/README_gen.py
     /usr/lib/x86-64-linux-gnu/openrtm-1.2/py_helpver/cxx_gen.py
     中略
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helpver/yat.py
     /usr/lib/x86_64-linux-gnu/pkgconfig/libcoil.pc

openrtm-aist-idl

  • idl files, etc.
     /etc/profile.d/openrtm-aist-idl.sh
     /usr/include/openrtm-1.2/rtm/idl/BasicDataType.idl
     /usr/include/openrtm-1.2/rtm/idl/CameraCommonInterface.idl
     中略
     /usr/include/openrtm-1.2/rtm/idl/SharedMemory.idl
     /usr/share/openrtm-1.2/idl/BasicDataType.idl
     /usr/share/openrtm-1.2/idl/CameraCommonInterface.idl
     中略
     /usr/share/openrtm-1.2/idl/SharedMemory.idl
  • L incense, etc.
     /usr/share/doc/openrtm-aist-idl/changelog.Debian.gz
     /usr/share/doc/openrtm-aist-idl/changelog.gz
     /usr/share/doc/openrtm-aist-idl/copyright

openrtm-aist-java

  • Commands
     /usr/bin/rtcd_java
     /usr/bin/rtcprof_java
  • Script for setting environmental variables
     /etc/profile.d/openrtm-aist-java.sh
  • jar files
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/License.txt
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/LogicalTimeTriggeredEC.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/NameserviceFile.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/OpenRTM-aist-1.2.0.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/commons-cli-1.1.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/jna-4.2.2.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/jna-platform-4.2.2.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/rtcd.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/rtcprof.jar

openrtm-aist-java-example

Java version sample RTCs, the class file, the source files, and the startup scripts.

 /usr/share/openrtm-1.2/components/java/* 
 /usr/share/openrtm-1.2/components/java/RTMExamples/AutoTest/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/Composite/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/ConfigSample/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/ExtTrigger/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/control/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/model/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/view/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/MyService.idl
 /usr/share/openrtm-1.2/components/java/RTMExamples/SeqIO/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SeqIO/view/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SimpleIO/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SimpleService/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SinCosOut/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/Throughput/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/TopicTest/*

openrtm-aist-java-doc

openrtm-aist-java-doc includes Japanese/English class reference.

 /usr/share/openrtm-1.2/doc/java/JavaDoc/OpenRTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/OpenRTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/_SDOPackage/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/_SDOPackage/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/Version.html
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/class-use
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/OpenRTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/OpenRTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/_SDOPackage/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/_SDOPackage/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/index-files/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/class-use/Logbuf.html
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/*

openrtm-aist-python

  • Commands
     /usr/bin/rtcd_python
     /usr/bin/rtcprof_python
  • OpenRTM-aist-python python modules
     usr/lib/python2.7/dist-packages/OpenRTM-aist/*
  • Python search pass file for OpenRTM-aist
     /usr/lib/python2.7/dist-packages/OpenRTM_aist.ph
  • Utilities
     /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/__init__.py
     /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtc-template/*
     /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtcd/*
     /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtcprof/*
     /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtm-naming/*

openrtm-aist-python-example

 /usr/share/openrtm-1.2/components/python/__init__.py
 /usr/share/openrtm-1.2/components/python/rtcd.conf
 /usr/share/openrtm-1.2/components/python/components.conf
 /usr/share/openrtm-1.2/components/python/AutoControl/*
 /usr/share/openrtm-1.2/components/python/AutoTest/*
 /usr/share/openrtm-1.2/components/python/Composite/*
 /usr/share/openrtm-1.2/components/python/ConfigSample/*
 /usr/share/openrtm-1.2/components/python/ExtTrigger/*
 /usr/share/openrtm-1.2/components/python/MobileRobotCanvas/*
 /usr/share/openrtm-1.2/components/python/SeqIO/*
 /usr/share/openrtm-1.2/components/python/SimpleIO/*
 /usr/share/openrtm-1.2/components/python/SimpleService/*
 /usr/share/openrtm-1.2/components/python/Slider_and_Motor/*
 /usr/share/openrtm-1.2/components/python/Templates/*
 /usr/share/openrtm-1.2/components/python/Throughput/*
 /usr/share/openrtm-1.2/components/python/TkJoyStick/
 /usr/share/openrtm-1.2/components/python/TkLRFViewer/*

openrtm-aist-python-doc

  • Class reference (English)
     /usr/share/openrtm-1.2/doc/python/ClassReference-en/html/_async_8py.html
     /usr/share/openrtm-1.2/doc/python/ClassReference-en/html/_buffer_base_8py.html
     中略
     /usr/share/openrtm-1.2/doc/python/ClassReference-en/html/uuid_8py.html
  • Classs reference (Japanese)
     /usr/share/openrtm-1.2/doc/python/ClassReference-jp/html/_async_8py.html
     /usr/share/openrtm-1.2/doc/python/ClassReference-jp/html/_buffer_base_8py.html
     中略
     /usr/share/openrtm-1.2/doc/python/ClassReference-jp/html/uuid_8py.html 

rtshell

  • Script for rtshell commands
     /usr/local/bin/rtact
     /usr/local/bin/rtcat
     /usr/local/bin/rtcheck
     /usr/local/bin/rtcomp
     /usr/local/bin/rtcon
     /usr/local/bin/rtconf
     /usr/local/bin/rtcryo
     /usr/local/bin/rtdeact
     /usr/local/bin/rtdel
     /usr/local/bin/rtdis
     /usr/local/bin/rtdoc
     /usr/local/bin/rtexit
     /usr/local/bin/rtfind
     /usr/local/bin/rtfsm
     /usr/local/bin/rtinject
     /usr/local/bin/rtlog
     /usr/local/bin/rtls
     /usr/local/bin/rtmgr
     /usr/local/bin/rtprint
     /usr/local/bin/rtpwd
     /usr/local/bin/rtreset
     /usr/local/bin/rtresurrect
     /usr/local/bin/rtshell_post_install
     /usr/local/bin/rtstart
     /usr/local/bin/rtstodot
     /usr/local/bin/rtstop
     /usr/local/bin/rtteardown
     /usr/local/bin/rtvlog
     /usr/local/bin/rtwatch
  • Main portion of the commands
     /usr/local/lib/python2.7/dist-packages/rtctree/*
     /usr/local/lib/python2.7/dist-packages/rtshell/*
     /usr/local/lib/python2.7/dist-packages/rtsprofile/*
  • Package information
     /usr/local/lib/python2.7/dist-packages/rtctree_aist-4.2.0.egg-info/*
     /usr/local/lib/python2.7/dist-packages/rtshell_aist-4.2.2.dist-info/*
     /usr/local/lib/python2.7/dist-packages/rtsprofile_aist-4.1.2.dist-info/*

Install on Fedora

OpenRTM-aist for Java provides an RPM package that is available for Fedora Linux. You can check the supported versions of Fedora Linux on the download page. Please note that the support for Fedora Linux and its version is subject to change or stop without notice.

There are two main installation methods to install Fedora Linux, as follows.
  • Using the bulk installation script provided by openrtm.org
  • using the yum package manager

Bulk installation script

Download the installation script pkg_install_fedora.sh provided by openrtm.org from the download page and run it with root privileges. This script will install the necessary packages one by one using yum.

It is very convenient because it installs all the packages needed to develop and run OpenRTM-aist. option, so you can now install packages that are tailored to your needs. It is recommended whether you are installing OpenRTM-aist for the first time or trying to compile the source.

Please check the page of "Bulk installation script:http" for the download of the batch installation script, detailed installation instructions, and the types of options that can be specified.

A problem has been reported that the required OpenRTM-aist package is not installed when the bulk install script is used with the -l java option. Please follow the steps below to install the software.

 sudo yum install OpenRTM-aist OpenRTM-aist-devel

Install OpenRTP

In the directory where pkg_install_fedora.sh is located, you need to install OpenRTP by using the bulk installation script

 $ sudo sh pkg_install_fedora.sh -l openrtp --yes
You can install OpenRTP by typing

How to use yum

Create /etc/yum.repos.d/openrtm.repo

openrtm.org provides a package repository that is available from yum. However, it is not included in the default package repository, so you will need to change the YUM settings.

Create the file /etc/yum.repos.d/openrtm.repo which records the following settings. You usually need root privileges to create them.

 [openrtm]
 name=Fedora $releasever - $basearch
 failovermethod=priority
 baseurl=http://openrtm.org/pub/Linux/Fedora/releases/$releasever/Fedora/$basearch/os/Packages
 enabled=1
 gpgcheck=0
 gpgkey=file:///etc/pki/rpm-gpg/RPM-GPG-KEY-fedora file:///etc/pki/rpm-gpg/RPM-GPG-KEY
/etc/yum.repos.d/openrtm.repo

Install with *** yum

Once you have created openrtm.repo, follow the steps below to install it. You will be asked for several responses along the way, so complete them by typing y.

 $ sudo yum install gcc-c++ python
 $ sudo yum install omniORB omniORB omniORB-devel omniORB-doc omniORB-servers omniORB-utils
 $ sudo yum install OpenRTM-aist OpenRTM-aist-devel OpenRTM-aist-Java OpenRTM-aist-Java-doc OpenRTM-aist-Java-example
 $ sudo yum install OpenRTP

Setting environment variables

You need to set environment variables. Add the following line to the .bashrc file in your home directory (when using the 64 bit version)
 export RTM_JAVA_ROOT=/usr/lib64/openrtm-1.2
To enable this setting, please log in again after the installation is complete. About ***JDK8 The installation of the OpenRTM-aist-Java package for Fedora automatically installs OpenJDK8 from Fedora's standard repositories and sets it up as a Java environment to use, but if you want to use other JDKs for licensing and support terms, see the link below.

Finally, confirm the installation with the following command

 # rpm -q OpenRTM-aist
 OpenRTM-aist-1.2.0-0.fcXX.x86_64

Package details

Each package contains the followings.

openrtm-aist

openrtm-aist includes run-time libraries and commands

  • Commands
     /usr/bin/rtcd
     /usr/bin/rtcprof
     /usr/bin/rtm-config
     /usr/bin/rtm-naming
  • Sample configuration file
     /etc/rtc.conf.sample
  • Libraries
     /usr/lib64/libRTC-1.2.0.so
     /usr/lib64/libRTC.a
     ...
     /usr/lib64/librtmManipulator.so.0.0.0
     /usr/lib64/openrtm-1.2/ec/FileNameservice.la
     /usr/lib64/openrtm-1.2/ec/FileNameservice.so
     ...
     /usr/lib64/openrtm-1.2/ec/RTPreemptEC.so.0.0.0
     /usr/lib64/openrtm-1.2/sdo/LoggerConsumer.a
     /usr/lib64/openrtm-1.2/sdo/LoggerConsumer.la
     /usr/lib64/openrtm-1.2/sdo/LoggerConsumer.so
     /usr/lib64/openrtm-1.2/sdo/LoggerConsumer.so.0
     /usr/lib64/openrtm-1.2/sdo/LoggerConsumer.so.0.0.0
     /usr/lib64/openrtm-1.2/ssl/SSLTransport.la
     /usr/lib64/openrtm-1.2/ssl/SSLTransport.so
     /usr/lib64/openrtm-1.2/ssl/SSLTransport.so.0
     /usr/lib64/openrtm-1.2/ssl/SSLTransport.so.0.0.0

OpenRTM-aist-devel

openrtm-aist-dev includes commands and header files for RT system development.

  • Commands
     /usr/bin/coil-config
     /usr/bin/rtc-template
     /usr/bin/rtm-skelwrapper
  • Header files, etc.
      /usr/include/coil-1.2/coil/Affinity.h
      /usr/include/coil-1.2/coil/Allocator.h
      ...
      /usr/include/coil-1.2/coil/stringutil.h
      /usr/include/openrtm-1.2/rtm/BufferBase.h
      /usr/include/openrtm-1.2/rtm/BufferStatus.h
      ...
      /usr/include/openrtm-1.2/rtm/config_rtc.h
      /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.hh
      /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.idl
      ...
      /usr/include/openrtm-1.2/rtm/ext/ManipulatorCommonInterface_MiddleStub.h
      /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/ArtExecutionContext.h
      /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/rtc.conf.sample
      /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.h
      /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.idl
      ...
      /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredECStub.h
      /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.hh
      /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.idl
      /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECDynSK.cc
      /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECSK.cc
      /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt
      /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/RTPreemptEC.h
      /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/rtc.conf.sample
      /usr/include/openrtm-1.2/rtm/ext/local_service/nameservice_file/FileNameservice.h
      /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/FluentBit.h
      /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/fluentbit.conf
      /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.hh
      /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.idl
      ...
      /usr/include/openrtm-1.2/rtm/ext/sdo/logger/LoggerStub.h
      /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserver.idl
      /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverConsumer.h
      ...
      /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverStub.h
      /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.hh
      /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.idl
      /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverDynSK.cc
      /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverSK.cc
      /usr/include/openrtm-1.2/rtm/idl/BasicDataType.hh
      /usr/include/openrtm-1.2/rtm/idl/BasicDataType.idl
      ...
      /usr/include/openrtm-1.2/rtm/idl/device_interfaces/Ranger.idl
      /usr/include/openrtm-1.2/rtm/version.h
      /usr/include/openrtm-1.2/rtm/version.txt
  • Libraries and others
      /usr/lib/x86_64-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake
      /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helper/README_gen.py
      /usr/lib/x86-64-linux-gnu/openrtm-1.2/py_helpver/cxx_gen.py
      ...
      /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helpver/yat.py
      /usr/lib/x86_64-linux-gnu/pkgconfig/libcoil.pc

OpenRTM-aist-Java

  • Commands
     /usr/bin/rtcd_java
     /usr/bin/rtcprof_java
  • jar files
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/License.txt
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/LogicalTimeTriggeredEC.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/NameserviceFile.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/OpenRTM-aist-1.2.0.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/commons-cli-1.1.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/jna-4.2.2.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/jna-platform-4.2.2.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/rtcd.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/rtcprof.jar

OpenRTM-aist-Java-example

Java version sample RTC, the class files, the source files, and the startup script

 /usr/share/openrtm-1.2/components/java/* 
 /usr/share/openrtm-1.2/components/java/RTMExamples/AutoTest/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/Composite/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/ConfigSample/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/ExtTrigger/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/control/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/model/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/view/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/MyService.idl
 /usr/share/openrtm-1.2/components/java/RTMExamples/SeqIO/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SeqIO/view/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SimpleIO/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SimpleService/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SinCosOut/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/Throughput/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/TopicTest/*

OpenRTM-aist-Java-doc

openrtm-aist-java-doc includes Japanese/English class references

 /usr/share/openrtm-1.2/doc/java/JavaDoc/OpenRTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/OpenRTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/_SDOPackage/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/_SDOPackage/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/Version.html
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/class-use
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/OpenRTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/OpenRTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/_SDOPackage/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/_SDOPackage/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/index-files/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/class-use/Logbuf.html
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/*

openrtp

Since openrtp installs a lot of files, I won't list them here. if necessary

 $ rpm -ql OpenRTP
to confirm for yourself.

Operation Check (On Windows)

Location of the sample component

After the installation or build is done successfully, test it in action with the included sample components. Sample components can usually be found at

  • C:\Program Files\OpenRTM-aist\1.2.1\Components\Java
  • OpenRTM-aist\jp.go.aist.rtm.RTC\bin\RTMExamples (when built from source)

Check that OpenRTM-aist is built and installed correctly using the sample component set SimpleIO.

Test with samples (SimpleIO)

This sample set consists of RT-components ConsoleIn and ConsoleOut. ConsoleIn is a component that outputs numbers input from the console to the OutPort, and ConsoleOut is a component that displays the numbers input from the InPort on the console. These are just simple examples to use the I/O (input and output). It works by making a connection from the OutPort of ConsoleIn to the InPort of ConsoleOut and activating (Activating) the two components.

The following explanation assumes that you have installed OpenRTM-aist with the MSI installer and start various programs from the Start menu.

RTSystemEditor, name server activation

Follow the steps below to start the RTSystemEditor and name servers.

Launching the sample components

After the name server start, start the appropriate sample components.

For Windows 10, open the sample folder by typing Java_Examples in the [Type here to search] field at the bottom right.

rtm27_en.png
Name server confirmed to start

rtm28_en.png
Sample Component Folders'

In this example, double-click on "ConsoleIn.bat" and "ConsoleOut.bat" to launch the two components. When it starts, two console screens will open, as shown below.

rtm29.png
ConsoleIn component and ConsoleOut component.

If the component does not start

If the component does not start, there are several possible causes.

Console screen opens and then disappears

The problem may occur if the environment variables RTM_ROOT and RTM_JAVA_ROOT are not set correctly. If you installed it with the msi installer, rebooting the OS may solve the problem.

Also, there is a problem with the setting of rtc.conf and it cannot be started in some cases. Please open [rtc.conf for examples] in the start menu folder above and check the settings. For example, if a setting such as corba.endpoint/corba.endpoints has a mismatch with the host address of the currently running PC, CORBA will terminate abnormally.

Please try setting it to the minimum rtc.conf like the following.

 corba.nameservers: localhost

Putting it in the editor

If you click [>] in the tree view of the RTSystemEditor, you will see that the two components you just launched are registered.

/en/node/6614
ConsoleIn component and ConsoleOut component.

Open an editor to edit the system. Click [Open New System Editor] buttonrtse_open_editor_icon.png in the top to open the editor in the middle pane.

Drag and drop the two components shown by the icon-rtce.png icon into the name service view on the left to the editor in the center.

/en/node/6614
Put the component in the editor

Connections and Activation

The right side of the ConsoleIn0 component has OutPort rtse_outport_icon_n.png where data is output, and the left side of the ConsoleOut0 component has InPort rtse_inport_icon_n.png where data is input.

These InPort/OutPort (called data port) are connected. When you drag and drop from OutPort to InPort (or InPort to OutPort), a dialog like the one shown in the following figure appears, so click the [OK] button with the default settings.

rtm13.png
Connecting data ports.

rtm12_en.png
Data Port Connection Dialog

A connecting line appears between the two components. Next, click the [Activate Systems] button rtm14.png on the top menu of the editor to activate these components. When activated, the component changes to green.

rtm15.png
Activated components

When the components are activated, the ConsoleIn component console will prompt with:

 Please input number: 

Enter an appropriate number (within the range of short int: 32767 or less) and press the Enter key. Then, on the ConsoleOut side, the entered values are displayed. It indicates that the data has been transferred from the ConsoleIn component to the ConsoleOut component.

This completes the confirmation of the basic operation of the component.

Other samples

The installer comes with a few other sample components as well. You can try these components by launching them in the same way, connecting and activating the ports in RTSystemEditor.

The following is a list of the attached batch files for component start-up and a brief description of the components that are invoked by them.

ConsoleInComp.bat Starts a component that outputs numbers input from the console to OutPort and is used by connecting with ConsoleOutComp.class.
ConsoleOutComp.bat Starts a component that displays the numbers entered in InPort to the console and is used by connecting with ConsoleInComp.class.
SeqInComp.bat Starts a component that outputs random numbers (Short, Long, Float, Double and its sequence type) and is used in conjunction with SequenceOutComp.class.
SeqOutComp.bat Starts a component that shows the numbers (Short, Long, Float, Double and its sequence type) entered into InPort and is used in conjunction with SequenceInComp.class.
MyServiceProviderComp.bat Starts a component that provides services of type MyService and is used in connection with MyServiceConsumerComp.class.
MyServiceConsumerComp.bat Starts a component that provides services of type MyService and is used in connection with MyServiceProviderComp.class.
ConfigurationSampleComp.bat Start a configuration sample component to understand the behavior of the configuration function by changing the Configuration from RtcLink.
ExtConsoleIn.bat Starts the component to transfer input numerical value from the console to OutPort with being controlled by an external trigger. It is used by connecting to ExtTrigger/ConsoleOutComp.class.
ExtConsoleOut.bat Starts the component to show the data from InPort to the console with being controlled by an external trigger. It is used by connecting to ExtTrigger/ConsoleInComp.class.
ExtConnector.bat Starts a program to send external triggers to ExtTrigger/ConsoleInComp.class and ExtTrigger/ConsoleOutComp.class.
GUIIn.bat Start the GUI sample that outputs the position of the slider from Outport.
Composite.bat Start a composite component that contains three components.|

Operation Check (On Linux)

After the installation is successfully completed, test the operation with the included samples. Samples can usually be found at
  • /usr/share/openrtm-1.2/components/java/
If built from the source, you can find it at:
  • OpenRTM-aist-Java/jp.go.aist.rtm.RTC/bin/RTMExamples/<sample component set name>

Check if OpenRTM-aist is built and installed correctly using the sample component set SimpleIO.

Sample component set SimpleIO

This sample set consists of RT components ConsoleIn and ConsoleOut. ConsoleIn is a component that outputs numbers input from the console to OutPort, and ConsoleOut is a component that displays the numbers input from InPort to the console. These are simple examples to show a way to handle I/O (input and output). It works by configuring a connection from the OutPort of ConsoleIn to the InPort of ConsoleOut and activating the two components.

In the following explanation, I assume that the samples are located in /usr/share/openrtm-1.2/components/java/SimpleIO.

Testing with samples

name server startup

Follow the steps below to start RTSystemEditor and name servers.

Launching ConsoleIn

Launch a terminal and launch ConsoleIn by typing-in:

 $ sh /usr/share/openrtm-1.2/components/java/ConsoleIn.sh

If you build and install it by yourself, you need to set the environment variable CLASSPATH first.

 Export CLASSPATH=. :${RTM_JAVA_ROOT}/jar/OpenRTM-aist-1.2.0.jar: {\fnDroid} 
 ${RTM_JAVA_ROOT}/jar/OpenRTM-aist-1.2.0.jar: ${RTM_JAVA_ROOT}/jar/commons-cli-1.1.jar 
 ${RTM_JAVA_ROOT}/jar/jna-4.2.2.jar:${RTM_JAVA_ROOT}/jar/jna-platform-4.2.2.jar: \frx346} 
 ${RTM_JAVA_ROOT}/bin

And then start the RTC by typing-in like:

 $ java RTMExamples.SimpleIO.ConsoleInComp

Launching ConsoleOut

Start another terminal and launch ConsoleOut by typing-in:

 $ sh /usr/share/openrtm-1.2/components/java/ConsoleOut.sh

If you built and installed the program yourself, start the RTC by typing-in like:

 $ java RTMExamples.SimpleIO.ConsoleOutComp

Putting them into the editor

Click [>] in the tree view of the RTSystemEditor to see that the two components you just launched are registered.

/en/node/6614
ConsoleIn component and ConsoleOut component.

Open an editor to edit the system. Click [Open New System Editor] buttonrtse_open_editor_icon.png in the top to open the editor in the middle pane.

Drag and drop the components (two) shown by the icon-rtce.png icon into the name service view on the left to the editor in the center.

rtm11l_en.png
Put the component in the editor

Connections and Activation

The right side of the ConsoleIn0 component has OutPort rtse_outport_icon_n.png where data is output, and InPort rtse_inport_icon_n.png where data is input, and the left side of the ConsoleOut0 component has InPort rtse_inport_icon_n.png respectively.

These InPort/OutPort (collectively called data ports) are connected. When drag and drop from OutPort to InPort (or InPort to OutPort) is made, a dialog like the one shown in the figure appears, so click the [OK] button with the default settings.

rtm13.png
Connecting data ports.

rtm12l_en.png
Data Port Connection Dialog

A connecting line appears between the two components. Next, click the [Activate Systems] button rtm14.png on the top menu of the editor to activate these components. When activated, the component changes to green.

rtm15.png
Activated components

Once the component is activated, the ConsoleIn console prompt:

 Please input number: 

Enter an appropriate number (within the range of short int: 32767 or less) and press the Enter key. Then, on the ConsoleOut side, the entered values are displayed. It indicates that the data has been transferred from the ConsoleIn component to the ConsoleOut component.

This completes the confirmation of the basic behavior of the component.

Build from the source code

If you want to change the source of OpenRTM-aist-Java, you can compile it from the source code.

Building the distribution source code

OpenRTM-aist (Java version) provides a build environment using Eclipse.

dependent library

The following development environment and libraries are required to build OpenRTM-aist.

Please follow the documentation for each library and install it.

Download the Source code

Download the source code for OpenRTM-aist-Java.

Expanding the source code

First, extract the source code to an appropriate directory.
  • In the case of Linux
     $ tar xvzf OpenRTM-aist-Java-X.X.X.tar.gz
  • For Windows, use a tool that can extract tgz.

Build.

Importing a project

Here's how to build it. (The figure shows the Windows version of Eclipse 3.4.2.) Start Eclipse and import the project into your workspace. Select [File]>[Import].

rtm16_en.png
[File]>[Import]

The Import Select window will open. Now, select [General] > [Existing Project into Workspace] and click the [Next>] button.

rtm17_en.png
Import 'Select' window

The Import Project window will open. Select the directory that has been expanded to [Select root directory] and click [Finish].

rtm18_en.png
[Import Project] window'

You can now import the project into your workspace.

JDE settings

Configure the JDK to be used for the build. First, go to [Window]>[Preferences] to open the settings screen.

rtm19_en.png
[Window]>[Preferences]

Select [Java] > [Installed JREs] from the tree on the left and press the add button.

rtm20_en.png
Installed JREs

Select "Standard VM" and click "Next>".

rtm21_en.png
Add a JRE.

Specify the path of the jre directory under the JDK installed directory into [JRE home] input box, specify JRE name into [JRE name] input box, and click [Finish].

rtm22_en.png
JRE settings

Turn on the checkbox of the JDK set in [installed JRE] list and click [Apply and close].

rtm23_en.png
[
Configure the JDK.

From the package explorer, right-click on "build.xml" and select [Run As]>[2 Ant Build...] from the package explorer, right-click [run]>[2 Ant build...].

rtm25_en.png
[Run As]>[2 Ant Build...]

The configuration edit window appears. Now, select jar, idlCompile, idlCompileEtc, clean, and compile_win and click the [Run] button.

rtm26_en.png
Configuration Edit Window

Then the build begins. If the message BUILD SUCCESSFUL or Build Success is displayed in the console window, it is completed.