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latest Releases : 2.0.0-RELESE
2.0.0-RELESE | Download page |
Number of Projects
RT-Component | 153.5 |
RT-Middleware | 35 |
Tools | 22 |
Documentation | 2 |
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
When the installation completed successfully, you can test it on the sample application example/SimpleIO.
At first, 2 terminal windows will appear, then after a few seconds, another one will appear. You must wait until the third window appears. You can then type a number in the window diplayed as text "Please input number:". It should fit in a long int structure. The number typed in will simultaneously be displayed in the other window, along with the time (the format for the time is sec:nsec). Reaching this stage indicates that the build and installation of OpenRTM-aist-Python was successful.
Testing the Component Template
Let's prepare to use rtc-template as procedure below.
When OpenRTM-aist for C++ has already been installed
Please copy $PYTHONPATH/OpenRTM/rtc-template/python_gen.py to /usr/lib or /usr/local/lib /OpenRTM-aist/py_helper.
When OpenRTM-aist for C++ is not installed
Please give the executable attribute to "$PYTHONPATH/OpenRTM/rtc-template/rtc-template.py", and copy "rtc-template.py" as rtc-template under "/usr/bin/".
Next, you will test for generating the skeleton of a component by passing its specifications as arguments to rtc-template. You will use the template generator (rtc-template). After making the directory where you will generate the component (any directory will do), you will generate the component.
Let's take a look at the help.
By passing the settings of the component we want to build as arguments to rtc-template, the skeleton of the component will automatically be generated. Here, we will try the Example: provided at the end of the help section.
In this Example, the options for using MyService as a service provider and YourService as a service consumer are provided, and these IDL files need to be put in the current directory for them. Here, we will create simple IDL files as follows:
After putting these files, we copy and paste "Example" as the input commands.
Note: Since sample displayed by --help is for generating C++ codes, when you generate the source code for Python, please modify "- bcxx" to "- bpython".
Python code and service implementation code have then be generated.
The executable version (Sample.py) of the component was generated. Let's try to run the executable version of the component. A configuration file (usually named rtc.conf) must be provided when executing a component. Here, we will create a very simple one in the current directory.
In this example, we will set hostname to localhost and the port number to default.
Next, we start the CORBA Naming Service. The CORBA Naming Service can be started by inputting the following command. Please start it by specifying port number in rtc.conf:
If the port number is not specified, its default will be used.
Next, we will start the component.
For more details on developing components, please refer to the manual.