Tutorial: Development of RT-Component

Here, you can read the "step-by-step" manual of RTC development using OpenRTM-aist. This tutorial is for the users with ...

  • Knowledge of the programming language which you want to use
  • Knowledge of Operating System

Contents

  • Installation
  • Skeleton Code Generation
  • Periodic Execution
  • Activate/Deactivate RTCs
  • Data Out Port
  • Connection
  • Data In Port
  • Configuration
  • Service Port
  • RTC daemon

Installation

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Install and Setup of developmental environment for RT-component of OpenRTM-aist.
This content depends on your language selection. Please select your preferable language.

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Skeleton Code Generation

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Install and Setup of developmental environment for RT-component of OpenRTM-aist.
In usual RTC development, RTC's skeleton code can be generated by RTC-builder. Here, the way how to use RTCB is shown.

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Periodic Execution

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The simplest RTC that outputs a text message periodically is shown.
This content depends on your language selection. Please select your preferable language.

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Activate / Deactivate RTC

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How to activate / deactivate RTC is shown.

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rtc.conf

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The period of the "execution" can be configured a posteriori. The "rtc.conf" is a default configuration file for RT-component. Here, the rules for the configuration is described.

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Data Out Port

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The basic communication strategy "Data Port" is shown here.
This content depends on your language selection. Please select your preferable language.

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Connection

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How to connect RTCs is shown.

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Data In Port

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Now you can receive data from other RTCs using the Data In Port.
This content depends on your language selection. Please select your preferable language.

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Configuration

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The variables that regulate the behavior of RTCs (ex., gains for feedback controlling) can be configured a posteriori.
This content depends on your language selection. Please select your preferable language.

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Service Port

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"Service Port" provides a remote-function calling that is "passing arguments" and "receiving return value".
This content depends on your language selection. Please select your preferable language.

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RTC daemon

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"RTC daemon" is a deployment mechanism that can create plural RTCs in one process.
This content depends on your language selection. Please select your preferable language.

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Documentation:

latest Releases

For Begginers

Windows msi(installer) package (only trying samples)

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

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