OpenRTM-aist (C++,Python,Java) FAQ

Troubleshooting OpenRTM-aist (C++ edition, Python edition, and Java edition).

OpenRTM-aist (General)

OS-independent

A component which should be running seems to be dead.

 Symptom: A component which has been launched and registered to a name
 server is displayed as a zombie object in the name service view of
 RTSystemEditor. Even if I drag it down on the system editor, nothing is
 shown.

[Cause] You cannot reach the host where the component was launched.

You may not have reached the host where the component was launched from the PC where RTSystemEditor is running for some reason. At first check whether pings from the PC where RTSystemEditor is running to the host where the component was launched are successful.

For example, there are three hosts A, B, and C:
  • hostA: The host where the component is running.
  • hostB: The host where name server is running.
  • hostC: The host where RTSystemEditor is running.

Networks among these hosts are set up like this:

[hostA]-(networkI)-[hostB]-(networkII)-[hostC]

In this case, if host B is not configured for routing between networkI and networkII, hostA is unreachable from hostC. You need to configure hostB in order to reach hostA from hostC.

[Cause] The firewall is enabled in the host where the component was

launched.

When the firewall is enabled in the host where the component was launched, this problem may occur. Please recheck the configuration or turn off the firewall to connect to the component externally.

Windows

"The installer has insufficient privileges to access this directory..."

is displayed while executing the installer, and it fails in the installation.

Please log on as a user who has the Administrator privilege to run the installer.

Components are not registered to the name service.

After launching the name server and components, I connect to the name server with RTSystemEditor, but the components have not been registered.

First, to increase the log level to the highest level, please add the following line to rtc.conf:

 logger.log_level:PARANOID

and launch the components.

If the following message cannot be found in the component's log, the registration of the name server is not complete:

 naming_svc NameServer connection succeeded: corba/Host name : Port number

In this case, the following causes are possible.

corba.nameservers is not set correctly in rtc.conf.

Please make sure that the rtc.conf the components load is set correctly. If you want to set the host name as openrtm.aist.go.jp, the line shown below must be included in rtc.conf.

 corba.nameservers: openrtm.aist.go.jp

Also, when you start the name server by specifying port number, you need to specify the port number in rtc.conf, too. If you specify 1234 as the port number when launching the name server, you need to set rtc.conf as follows:

 corba.nameservers: openrtm.aist.go.jp:1234

If you do not specify the port number, the default port of 2809 will be used. This is the default port number of the omniORB name server (omniNames). If you use another name server than omniORB name server, set the port number appropriately.

The network of the host who launched the component and the host who launched the name server is not connected.

Please make sure you can connect from the host where the component was launched to the host where the name server was launched. First, confirm whether you can ping one computer from the other. If the ping does not succeed, please check the network configuration again.

Even if the ping succeeds, the connection may be prohibited by a firewall. First, please check the configuration of the host where the name server was launched. The easiest solution is to turn off the firewall. For more details, please refer to the configuration of each OS and firewall.

There are more than two network interfaces.

When there are more than two network interfaces, you need to specify to CORBA which interface to use. You should consider both the name server and the component.

Let's assume that each host has two interfaces and that the address for each interface is set as follows (the netmask is assumed to be 255.255.255.0):
  • Name server host: eth0:192.168.0.1, eth1:192.168.100.1
  • Component host: eth0:192.168.0.2, eth1:192.168.11.96
In this case, the name server host and the component host should be connected by the 192.168.0 network, so you need to specify the interface:
  • Name server eth0:192.168.0.1
  • Component eth0:192.168.0.2

When launching the name server, you need set the environment variable OMNIORB_USEHOSTNAME on the name server side.

 (csh)
 > setenv OMNIORB_USEHOSTNAME 192.168.0.1
 (bash)
 > export OMNIORB_USEHOSTNAME=192.168.0.1
 > rtm-naming or launch the name server by omniNames

You may modify rtm-naming (Unix) or rtm-naming.bat (Windows) directly.

While you modify the configuration of corba.endpoint in rtc.conf on the component side, you can specify the interface to use.

 corba.endpoint: Interface IP address:Port number
 corba:endpoint: 192.168.0.2:       (In case of not specifying port number)
 corba:endpoint: 192.168.0.2:1234   (In case of specifying port number)

You don't have to specify the port number, but please don't forget to add :(colon) after the IP address if you do.

OpenRTM-aist (C++ edition)

Windows

Application error "The application failed to initialize properly" is generated.

This error can appear when rtm-naming.bat is executed to start the name server. This error occurs because there is no VC++ runtime library in the execution environment. OpenRTM-aist (C++ edition) doesn't operate in the environment in which the VC++ (Microsoft Visual Studio and Visual C++ Express, etc.) runtime is not installed. Please install VC++ or the VC++ runtime. OpenRTM-aist (C++ edition) provides a VC8 (VS2005) version and a VC9 (VS2008) version. Install the Microsoft Visual C++ 2005 SP1 redistributable package when using OpenRTM-aist-X.X.X_vc8.msi, and the Microsoft Visual C++ 2008 redistributable package when using OpenRTM-aist-X.X.X_vc9.msi.

When building in Visual C++ 2005 Express Edition, the error "'windows.h': No such file or directory" is given.

When building in Visual C++ 2005 Express Edition, an error like this sometimes occurs:
 >c:\program files\omniorb\include\omnithread\nt.h(35) : fatal error C1083:
 include file cannot be opened. 'windows.h': No such file or directory
It may be caused by one of two reasons: 1. the Microsoft Platform SDK is not installed, or 2. the include file path or library path are not set up correctly.
1. Microsoft Platform SDK is not installed.
Install the Microsoft Platform SDK.
2. The include file path or the library path are not set up correctly.
There are some situations prevent the Visual C++ 2005 Express Edition compiler from finding the include or library files of the Microsoft Platform SDK, such as the Microsoft Platform SDK being installed in a different location to that of Visual C++ 2005 Express Edition. In this case, add the install directory of Microsoft Platform SDK to include the file search path and library search path to fix the problem.
    • Adding include file search paths Select "Options" from the "Tools" menu to open the "Options" window. Select "Projects and Solutions"-"VC++directory" from the tree view at left side. Change the right upper pull-down menu [Project directory] to [Include files], and add the include file directory of Microsoft Platform SDK (for example, "C:\Program Files\Microsoft Platform SDK\Include").
    • Adding library search paths Similarly, select "VC++ directory" in the left tree view in the Options window, change right upper pulldown menu [Project directory] to [Library files], and add the library file directory of the Microsoft Platform SDK (for example, "C:\Program Files\Microsoft Platform SDK\Lib").

Refer to the Visual C++ 2005 Express Edition help for more details.

Error occurs by executing rtm-naming (Windows)

 Sympton: If rtm-naming.bat is executed, an application error occurs.
Libraries related to VC++ may not be installed.

Libraries related to VC++ are not installed.

When applications such as Visual Studio 2005 are not installed, please install "Visual C++ 2005 Express Edition" from the Visual Studio 2005 Express Edition site.

rtm-naming cannot be executed

When rtm-naming.bat is executed, a black window (command prompt screen) opens and immediately closes.

[Cause] omniORB is not installed.

The name server, OmniNames.exe, of omniORB is started by rtm-naming.bat. Because OmniNames.exe is not installed if omniORB is not installed, the name server cannot be executed. Please download and install omniORB on the download page.

[Cause] A 2 byte character is included in the path of the log directory.

The name server of omniORB is started in rtm-naming.bat with:

 omniNames.exe -start 2809 -logdir %TEMP%

An environment variable, %TEMP%, sets the user's temporary directory, typically to:

 C:\Documents and Settings\[user-name]\Local Settings\Temp

When the user name uses 2-byte character codes, such as Japanese names, omniNames cannot create the log file and exits.

To resolve this issue, use one of the following methods.
[Method 1] Do not use a Japanese user-name.
Add a user who doesn't use Japanese and use that user to execute rtm-naming.bat.
[method 2] Rewrite rtm-naming.bat.

Edit the file C:\Program Files\OpenRTM-aist\[version]\bin\rtm-naming.bat, changing the following line:

 %cosnames% -start %port% -logdir %temp%

 %cosnames% -start %port% -logdir [log path]

Ensure that the new log path does not contain 2-byte character codes and that the user has permission to write to that directory.

[method 3] Use the Java orbd name server.

When the Java edition of OpenRTM-aist and the Java JDK are installed, start-orbd.vbs will be present in the Examples folder of the Start Menu. This starts the name server included in the Java CORBA system. It has no problems with 2-byte character codes.

unix

A download error occurs during package installation.

The automatic installer included in OpenRTM-aist checks for the existence of packages and their versions, and if appropriate packages are not installed, it downloads the packages from the download site of each package and installs them. Make sure your computer is connected to Internet to install with the automatic installer. Although your network connection is normal, when download errors still happen, it may be possible that the download fails because of network congestion, or locations or names of the files have been changed on the download site. In the first case, try automatic installation again after waiting some time. In the latter case, specify your target packages and download them individually to install manually, or modify the download links in the automatic installer and run it again. If there are changes in the download sites, please notify us.

Running configure quits due to errors

Most configuration errors happen when a required package cannot be found. When there is an error, make sure required packages are installed, and headers and libraries are installed in locations autoconf searches.

Errors occur during make

Launch the automatic installer of packages again and start over from package installation. If some error messages are shown during this process, install the specified packages manually and run configure. When configure ends without error messages, execute make again to finish the build.

The installation of OpenRTM-aist fails.

When an old version of OpenRTM-aist is not completely uninstalled, a new version cannot be installed. Please install it again after uninstalling an old version once.

Vine/Fedora/ubuntu/debian:

Please use "pkg_install_XXXX.sh" to uninstall.

 >su
 #pkg_install_XXXX.sh -u

This problem can also be solved by one of the following methods:
Vine:

The old OpenRTM-aist can be uninstalled with the apt-get command:

 >su
 #apt-get remove OpenRTM-aist-example
 #apt-get remove OpenRTM-aist-dev
 #apt-get remove OpenRTM-aist-doc
 #apt-get remove OpenRTM-aist

Fedora:

The old OpenRTM-aist can be uninstalled with the yum command:

 >su
 #yum remove OpenRTM-aist-example
 #yum remove OpenRTM-aist-dev
 #yum remove OpenRTM-aist-doc
 #yum remove OpenRTM-aist

Ubuntu/Debian:

The old OpenRTM-aist can be uninstalled with the apt-get command:

 >su
 #apt-get remove OpenRTM-aist-example
 #apt-get remove OpenRTM-aist-dev
 #apt-get remove OpenRTM-aist-doc
 #apt-get remove OpenRTM-aist

When apt-get etc. is used, it asks for a CD

When apt-get, pkg_install_ubuntu.sh, and pkg_install_debian.sh are used on distributions such as Ubuntu and Debian, a CD might be asked for:

 Media change: please insert the disc labeled
 'Ubuntu 7.10 _Gutsy Gibbon_ - Release i386 (20071016)'
 in the drive '/cdrom/' and press enter

Press ctrl-c to interrupt installation when the message is displayed. When you do not have the CD, you can avoid this message with the following method:

1. Edit /etc/apt/sources.list.

The following lines are in /etc/apt/sources.list.

 deb cdrom:[Ubuntu 7.10 _Gutsy Gibbon_ Japanese Remix - Release i386 (20071018)]/ gutsy main restricted

or

 deb cdrom:[Debian GNU/Linux 4.0 r3 _Etch_ - Official i386 NETINST Binary-1 20080218-14:15]/ etch contrib main

Comment out the line by inserting a # character at the start.

 #deb cdrom:[Ubuntu 7.10 _Gutsy Gibbon_ Japanese Remix - Release i386 (20071018)]/ gutsy main restricted

or

 #deb cdrom:[Debian GNU/Linux 4.0 r3 _Etch_ - Official i386 NETINST Binary-1 20080218-14:15]/ etch contrib main

2. Re-install

Start the installation from the beginning.

Cannot run run.sh to start the SimpleIO sample

It may be because run.sh does not have the execution bit set. Set the execution bit, or pass the script to the shell directly.

 > ls -al run.sh
 -rw-r--r--  1 n-ando  n-ando  1146  4 27 15:12 run.sh
 > chmod 755 run.sh
 > ./run.sh
 Or
 > sh run.sh

The SimpleIO sample starts up, but does not work

The execution script of SimpleIO, run.sh assumes a terminal window is one of kterm, xterm, or gnome-terminal. Therefore when you use another terminal window, edit run.sh appropriately.

OpenRTM-aist (Python edition)

Windows

If I execute rtm-naming.py, omniNames shows a "usage:" message and exits

    • Symptoms If you execute rtm-naming.py in a directory containing spaces such as "C:\Documents and Settings\Hoge\My Documents" etc, omniNames shows a "usage:" message and exits.
    • Solutions This is a bug in rtm-naming.py, so if you see the above symptom, try one of the following solutions.
      • Solution 1 Create a folder such as "RTMNaming" under C:\ (or another location whose path does not contain any spaces), copy there and run rtm-naming.py.
      • Solution 2 Modify at line 48 of rtm-naming.py in C:\Python24 (or Python25)\Lib\site-packages\OpenRTM\rtm-naming as follows:
          cmd = "omniNames -start "+str(port)+" -logdir \""+str(currdir)+"\" &"

python.exe does not start

Add the Python installation folder (e.g. C:\Python26) to the PATH environment variable.

There may be several versions of python.exe in some environments where

Cygwin is installed. Since there may be several versions of python.exe in some environments where Cygwin is installed, even if the PATH environment variable is set up correctly, another version of python.exe that is different from the expected can be started. This sometimes causes failures caused by version differences in the two Pythons. Finding the exact cause can be extremely difficult. If you use an environment where Cygwin is installed, make sure python.exe is starting from the Python installation folder when you run OpenRTM-aist for Python.

  • How to check: Check the Python version using python -V, or check which python.exe is executed with "which python" (in the Cygwin environment).
  • How to avoid: You can solve this problem by adding the Python installation folder (e.g. C:\Python26 etc) to the top of the PATH system environment variable (not the PATH user environment variable).

The program exits showing the error message "MSVCP71.dll cannot be found"

This is an error because the WINDOWS\system32 folder does not have msvcp71.dll. Get msvcp71.dll from this URL:

 http://www.vector.co.jp/soft/win95/util/se435079.html

Errors such as "Can't open file: ./rtc.conf" are displayed

If an rtc.conf file is not found in the same directory as the RT-Component or in the search path, the component cannot be started. The error appears as follows:

 Can't open file: ./rtc.conf
 Can't open file: /etc/rtc.conf
 Can't open file: /etc/rtc/rtc.conf
 Can't open file: /usr/local/etc/rtc.conf
 Can't open file: /usr/local/etc/rtc/rtc.conf
Make a simple rtc.conf in one of the above directories in order to avoid this.
 corba.nameservers: localhost
 naming.formats: %n.rtc

Components do not register with the name service.

If the new lines in rtc.conf are CRLF, you should remake rtc.conf. You can check using the file command:

 $ file rtc.conf

OpenRTM-aist (Java edition)

OS-independent

Data transfer is slow

Data transfer speed might decrease considerably when a large amount of data is sent and received between RT-Components of the Java edition and RT-Components in other languages. This is often caused by data of 100KB or more. This is known to be a problem in Java's CORBA, and it is possible to avoid by setting the CORBA time-out appropriately. This can be set in rtc.conf:
 corba.args: -ORBTCPReadTimeouts 1:60000:300:1
100:3000:300:20 is default in Java (since JDK1.5). The line above changes it to 1:60000:300:1. The four values mean:
  • Initial time to wait in milliseconds if a TCP transport read returns 0 bytes
  • Maximum time to spend in cumulative waits in milliseconds if a TCP transport read returns 0 bytes
  • Maximum time to spend in cumulative waits in milliseconds if a TCP transport read of the GIOP header returns 0 bytes
  • A backoff percentage used to compute the next amount of time to wait on a subsequent TCP transport read of 0 bytes.

Therefore, 1:60000:300:1 means:

  • The read thread stops after 1ms when read content was 0 bytes.
  • The maximum accumulated time for which the read thread waits is 6000ms.
  • The timeout period when the header of GIOP is read is 300ms.
  • The rest time of read thread is increased by 1%.

When a large amount of data is received, all the data cannot be acquired with a single read. In that case, it usually divides reads into portions. With the default value, the read thread will wait for 100ms, so it takes time to receive a large amount of data. Java's CORBA divides data into 100KB. When data that exceeds this is exchanged, you should add the above-mentioned setting to rtc.conf.

Windows

"java -version" shows a different version from the installed JDK.

When a newer version of the JRE (Java Runtime Environment) than the JDK is installed, even after you install the JDK, "java -version" sometimes shows the version of the JRE. We will describe how to set up against this problem.
  • JAVA_HOME environment variable Set the JAVA_HOME environment variable to the installation folder of the JDK.

Unix

Important note for installing Java on FedoraCore

When java is installed by yum in FedoraCore, GCJ (The GNU Compiler for Java) is installed. GCJ can cause problems. Confirm whether Sun Microsystems Java is used when trouble occurs.

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