Configuration

Configuration

Configuration

rtc.conf

The component manager reads the configuration file named rtc.conf when started. The configuration file is usually created as the name of rtc.conf, but any name of a configuration file you created can be passed.

Configuration about Naming Services

Configuration items of the naming service are as follows:

corba.nameservers

Specified by host_name:port_number, and the default port is 2809 (default of omniORB).
You can specify multiple servers and write each server separating each by a comma ",".

naming.formats

%h.host_cxt/%n.rtc -> host.host_cxt/MyComp.rtc
You can specify multiple.
If you want to compatible with 0.2.0, you will specify by:
%h.host_cxt/%M.mgr_cxt/%c.cat_cxt/%m.mod_cxt/%n.rtc

naming.update.enable

"YES" or "NO"
This determines whether the registration to the name service occurs automatically.
If yes, the name is registered again when a name service starts after a component runs.

naming.update.interval

Cycle of Update[s]. The default value is 10sec.

timer.enable

"YES" or "NO"
This determines whether to enable a manager timer. This must be set to Yes if you want to use naming.update.

timer.tick

The resolution of time[s]. Default:100ms.

Configuration about Log Outputs

logger.enable

"YES" or "NO"
This determines whether to enable the log output.

logger.file_name

Logfile name.
%h: the host name, %M: the manager name, %p: ProcessID are available.

logger.date_format

Date Format. This conforms to the notation of strftime(3).
Default: %b %d %H:%M:%S -> Apr 24 01:02:04

logger.log_level

Log Level: SILENT, ERROR, WARN, NORMAL, INFO, DEBUG, TRACE, VERBOSE, PARANOID.
Nothing is output (SILENT) - All are output (PARANOID).
※This item could be used before, however you now can't use it in RTC.

Configuration about Execution Contexts

exec_cxt.periodic.type

This specifies the execution context which is used.
Currently, PeriodicExecutionContext and ExtTrigExecutionContext are available.
The default value is PeriodicExecutionContext.

exec_cxt.periodic.rate
This specifies the frequency[Hz] of the execution context.
Valid range: [0, 1000000].
Default:1000.

Other Configurations

corba.endpoint

Specified by IP_Addr:Port. This specifies which card listens ORB, if there are multiple NICs.
Colon(:) is necessary even if Port is not specified.
Example: corba.endpoint: 192.168.0.12:
Please make sure to specify this when there are two NICs. (It is possible to run without specifying by accident.)

corba.args

Arguments of CORBA. For more details, please refer to the omniORB manual.

[Category name].[Component name].config_file
[Category name].[Instance name]. config_file

If you want to set the category name of the component configuration file: manipulator, the component name: myarm, the instance name myarm0,1,2,..., you can specify by:

 manipulator.myarm.config_file: arm.conf
 or
 manipulator.myarm0.config.file: arm0.conf

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

Join our slack

Enter email address for slack invite.

OpenHRP3

Dynamics simulator

OpenHRI

Human-Robot-Interaction RTCs

OpenRTP

Integrated Development Platform

OpenINVENT

Mobile Robot RTCs