git clone https://github.com/sitRyo/Distributed-Streaming-data-Sharing-Manager -b 32-64bit
 cd Distributed-Streaming-data-Sharing-Manager/
 ./configure --prefix=${OPENRTM_INSTALL_DIR}
 sudo autoreconf -i -f
 make
 make install

 cmake -DSSM_ENABLE=ON -DSSM_ROOT=${OPENRTM_INSTALL_DIR} ..

 cmake --build . --config Release --target install

 manager.modules.load_path: /usr/local/lib/openrtm-2.0/transport/
 manager.modules.preload: SSMTransport.so
 manager.components.preconnect: ConsoleOut0.in?interface_type=ssm&ssm.stream_name=test_stream&dataflow_type=pull, ConsoleIn0.out?interface_type=ssm&ssm.stream_name=test_stream
 manager.components.preactivation: ConsoleOut0, ConsoleIn0

 ssm-coordinator

 ${SSM_INSTALL_DIR}/bin/ssm-coordinator

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/transport/rtc.ssm.conf

 cmake -DFLB_RELEASE=On -DFLB_TRACE=Off -DFLB_SHARED_LIB=On -DFLB_EXAMPLES=Off  -DCMAKE_BUILD_TYPE=Release -DOPENSSL_ROOT_DIR=${OpenSSL_INSTALL_DIR} -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=${FLUENTBIT_INSTALL_DIR}
 cmake --build . --config Release
 cmake --build . --target install --config Release

 $FLUENTBIT_BUILD_DIR = "${FLUENTBIT_SOURCE_DIR}\build"

 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\monkey\include\monkey\mk_core\external -destination $FLUENTBIT_INSTALL_DIR\include\monkey\mk_core -recurs
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\monkey\mk_core\deps\libevent\include\event.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\monkey\mk_core\deps\libevent\include\evutil.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\monkey\mk_core\deps\libevent\include\event2 -destination $FLUENTBIT_INSTALL_DIR\include -recurs
 Copy-Item $FLUENTBIT_BUILD_DIR\lib\monkey\mk_core\deps\libevent\include\event2\event-config.h $FLUENTBIT_INSTALL_DIR\include\event2
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\msgpack-*\include\msgpack.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\msgpack-*\include\msgpack -destination $FLUENTBIT_INSTALL_DIR\include -recurs
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\mbedtls-*\include\mbedtls -destination $FLUENTBIT_INSTALL_DIR\include -recurs
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\c-ares-*\include\*.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_BUILD_DIR\lib\c-ares-*\ares_build.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_BUILD_DIR\lib\c-ares-*\ares_config.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_BUILD_DIR\lib\c-ares-*\ares_config.h $FLUENTBIT_INSTALL_DIR\include
 New-Item $FLUENTBIT_INSTALL_DIR\lib\fluent-bit -ItemType Directory
 Copy-Item $FLUENTBIT_BUILD_DIR\library\Release\fluent-bit.lib $FLUENTBIT_INSTALL_DIR\lib\fluent-bit
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\cmetrics\include\cmetrics -destination $FLUENTBIT_INSTALL_DIR\include -recurs
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\cmetrics\include\prometheus_remote_write -destination $FLUENTBIT_INSTALL_DIR\include -recurs

 cmake -DORB_ROOT=$ORB_ROOT -DFLUENTBIT_ENABLE=ON -DFLUENTBIT_ROOT=$FLUENTBIT_INSTALL_DIR -DCMAKE_INSTALL_PREFIX=$OPENRTM_INSTALL_DIR

 cmake --build . --target install --config Release

 
 logger.plugins: C:\\Program Files\\OpenRTM-aist\\logger\\2.0.0\\FluentBit.dll
 logger.logstream.fluentd.output0.plugin: forward
 logger.logstream.fluentd.output0.conf.match:*
 
 logger.logstream.fluentd.input0.plugin: lib
 logger.logstream.fluentd.input0.conf.tag: test.simpleio

 ${OPENRTM_INSTALL_DIR}\2.0.0\Components\C++\Examples\vc16\ConsoleOutComp.exe -f ${OPENRTM_INSTALL_DIR}\2.0.0\ext\logger\rtc.fluentbit_stream.conf

 sudo apt install flex bison
 wget https://github.com/fluent/fluent-bit/archive/v1.8.9.tar.gz
 tar xf v1.8.9.tar.gz
 cd fluent-bit-1.8.9/
 sed  -i -e 's/jemalloc-5.2.1\/configure/jemalloc-5.2.1\/configure --disable-initial-exec-tls/g' CMakeLists.txt
 cd build
 cmake .. -DFLB_RELEASE=On -DFLB_TRACE=Off -DFLB_JEMALLOC=On -DFLB_TLS=On -DFLB_SHARED_LIB=On -DFLB_EXAMPLES=Off -DFLB_HTTP_SERVER=On -DFLB_IN_SYSTEMD=On -DFLB_OUT_KAFKA=Off
 cmake --build . --config Release -- -j$(nproc)
 sudo cmake --build . --target install

 export FLUENTBIT_SOURCE_DIR=${WORKSPACE}/fluent-bit-1.8.9
 export FLUENTBIT_BUILD_DIR = ${FLUENTBIT_SOURCE_DIR}/build
 export FLUENTBIT_INSTALL_DIR=/usr/local

 mkdir -p ${FLUENTBIT_INSTALL_DIR}/include/lib/flb_libco
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/flb_libco/libco.h ${FLUENTBIT_INSTALL_DIR}/include/lib/flb_libco
 cp -r ${FLUENTBIT_BUILD_DIR}/include/jemalloc ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/msgpack-*/include/* ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/monkey/include/monkey ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/mbedtls-*/include/mbedtls ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/c-ares-*/include/* ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_BUILD_DIR}/lib/c-ares-*/ares_build.h ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_BUILD_DIR}/lib/c-ares-*/ares_config.h ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/cmetrics/include/* ${FLUENTBIT_INSTALL_DIR}/include/
 cp ${FLUENTBIT_SOURCE_DIR}/lib/flb_libco/libco.h ${FLUENTBIT_INSTALL_DIR}/include/

 cmake -DFLUENTBIT_ENABLE=ON -DFLUENTBIT_ROOT=${FLUENTBITINSTALLDIR} ..

 cmake --build . --target install

 logger.plugins: /usr/local/lib/openrtm-2.0/logger/FluentBit.so
 logger.logstream.fluentd.output0.plugin: forward
 logger.logstream.fluentd.output0.conf.match:*
 
 logger.logstream.fluentd.input0.plugin: lib
 logger.logstream.fluentd.input0.tag: test.simpleio

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/logger/rtc.fluentbit_stream.conf

 pip install fluent-logger

 manager.modules.load_path: C:\\Python37\\Lib\\site-packages\\OpenRTM_aist\\ext\\logger\\fluentlogger
 logger.plugins: FluentLogger.py
 logger.logstream.fluentd.output0.tag: test.simpleio

 2018-12-26 09:06:18.000000000 +0900 test.simpleio: {"message":"exit","time":"2018-12-26 09:06:18,841","name":"fluent.ec_worker","level":"TRACE"}

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\Components\C++\Examples\vc16\ConsoleOutComp.exe -f %RTM_ROOT%\ext\logger\rtc.fluentbit_stream.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/logger/rtc.fluentbit_stream.conf

 wget -qO - https://artifacts.elastic.co/GPG-KEY-elasticsearch | sudo apt-key add -
 add-apt-repository "deb https://artifacts.elastic.co/packages/7.x/apt stable main"
 sudo apt update
 sudo apt install elasticsearch=7.8.0
 sudo systemctl daemon-reload
 sudo systemctl enable elasticsearch.service

 network.bind_host: 0
 discovery.seed_hosts: ["127.0.0.1", "[::1]"]

 sudo systemctl restart elasticsearch.service

 -Xms1g
 -Xmx1g

 sudo apt install kibana=7.8.0
 sudo systemctl daemon-reload
 sudo systemctl enable kibana.service

 server.port: 5601
 server.host: "0.0.0.0"

 server.host: "192.168.11.2"

 sudo systemctl restart kibana.service

 logger.enable: YES
 logger.log_level: INFO
 
 
 logger.plugins: ${OPNRTM_INSTALL_DIR}/lib/openrtm-2.0/logger/FluentBit.so
 
 logger.logstream.fluentd.input.plugin: lib
 logger.logstream.fluentd.input.conf.tag: myRTCs_log
 
 logger.logstream.fluentd.output0.plugin: es
 logger.logstream.fluentd.output0.conf.match: *
 logger.logstream.fluentd.output0.conf.host: 127.0.0.1
 logger.logstream.fluentd.output0.conf.port: 9200
 logger.logstream.fluentd.output0.conf.Index: fluentbit

 ./share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f rtc.conf

 cmake -DFLB_RELEASE=On -DFLB_TRACE=Off -DFLB_SHARED_LIB=On -DFLB_EXAMPLES=Off  -DCMAKE_BUILD_TYPE=Release -DOPENSSL_ROOT_DIR=${OpenSSL_INSTALL_DIR} -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=${FLUENTBIT_INSTALL_DIR}
 cmake --build . --config Release
 cmake --build . --target install --config Release

 $FLUENTBIT_BUILD_DIR = "${FLUENTBIT_SOURCE_DIR}\build"

 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\monkey\include\monkey\mk_core\external -destination $FLUENTBIT_INSTALL_DIR\include\monkey\mk_core -recurs
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\monkey\mk_core\deps\libevent\include\event.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\monkey\mk_core\deps\libevent\include\evutil.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\monkey\mk_core\deps\libevent\include\event2 -destination $FLUENTBIT_INSTALL_DIR\include -recurs
 Copy-Item $FLUENTBIT_BUILD_DIR\lib\monkey\mk_core\deps\libevent\include\event2\event-config.h $FLUENTBIT_INSTALL_DIR\include\event2
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\msgpack-*\include\msgpack.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\msgpack-*\include\msgpack -destination $FLUENTBIT_INSTALL_DIR\include -recurs
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\mbedtls-*\include\mbedtls -destination $FLUENTBIT_INSTALL_DIR\include -recurs
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\c-ares-*\include\*.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_BUILD_DIR\lib\c-ares-*\ares_build.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_BUILD_DIR\lib\c-ares-*\ares_config.h $FLUENTBIT_INSTALL_DIR\include
 Copy-Item $FLUENTBIT_BUILD_DIR\lib\c-ares-*\ares_config.h $FLUENTBIT_INSTALL_DIR\include
 New-Item $FLUENTBIT_INSTALL_DIR\lib\fluent-bit -ItemType Directory
 Copy-Item $FLUENTBIT_BUILD_DIR\library\Release\fluent-bit.lib $FLUENTBIT_INSTALL_DIR\lib\fluent-bit
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\cmetrics\include\cmetrics -destination $FLUENTBIT_INSTALL_DIR\include -recurs
 Copy-Item $FLUENTBIT_SOURCE_DIR\lib\cmetrics\include\prometheus_remote_write -destination $FLUENTBIT_INSTALL_DIR\include -recurs

 cmake -DORB_ROOT=$ORB_ROOT -DFLUENTBIT_ENABLE=ON -DFLUENTBIT_ROOT=$FLUENTBIT_INSTALL_DIR -DCMAKE_INSTALL_PREFIX=$OPENRTM_INSTALL_DIR

 cmake --build . --target install --config Release

 
 logger.plugins: C:\\Program Files\\OpenRTM-aist\\logger\\2.0.0\\FluentBit.dll
 logger.logstream.fluentd.output0.plugin: forward
 logger.logstream.fluentd.output0.conf.match:*
 
 logger.logstream.fluentd.input0.plugin: lib
 logger.logstream.fluentd.input0.conf.tag: test.simpleio

 ${OPENRTM_INSTALL_DIR}\2.0.0\Components\C++\Examples\vc16\ConsoleOutComp.exe -f ${OPENRTM_INSTALL_DIR}\2.0.0\ext\logger\rtc.fluentbit_stream.conf

 sudo apt install flex bison
 wget https://github.com/fluent/fluent-bit/archive/v1.8.9.tar.gz
 tar xf v1.8.9.tar.gz
 cd fluent-bit-1.8.9/
 sed  -i -e 's/jemalloc-5.2.1\/configure/jemalloc-5.2.1\/configure --disable-initial-exec-tls/g' CMakeLists.txt
 cd build
 cmake .. -DFLB_RELEASE=On -DFLB_TRACE=Off -DFLB_JEMALLOC=On -DFLB_TLS=On -DFLB_SHARED_LIB=On -DFLB_EXAMPLES=Off -DFLB_HTTP_SERVER=On -DFLB_IN_SYSTEMD=On -DFLB_OUT_KAFKA=Off
 cmake --build . --config Release -- -j$(nproc)
 sudo cmake --build . --target install

 export FLUENTBIT_SOURCE_DIR=${WORKSPACE}/fluent-bit-1.8.9
 export FLUENTBIT_BUILD_DIR = ${FLUENTBIT_SOURCE_DIR}/build
 export FLUENTBIT_INSTALL_DIR=/usr/local

 mkdir -p ${FLUENTBIT_INSTALL_DIR}/include/lib/flb_libco
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/flb_libco/libco.h ${FLUENTBIT_INSTALL_DIR}/include/lib/flb_libco
 cp -r ${FLUENTBIT_BUILD_DIR}/include/jemalloc ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/msgpack-*/include/* ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/monkey/include/monkey ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/mbedtls-*/include/mbedtls ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/c-ares-*/include/* ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_BUILD_DIR}/lib/c-ares-*/ares_build.h ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_BUILD_DIR}/lib/c-ares-*/ares_config.h ${FLUENTBIT_INSTALL_DIR}/include/
 cp -r ${FLUENTBIT_SOURCE_DIR}/lib/cmetrics/include/* ${FLUENTBIT_INSTALL_DIR}/include/
 cp ${FLUENTBIT_SOURCE_DIR}/lib/flb_libco/libco.h ${FLUENTBIT_INSTALL_DIR}/include/

 cmake -DFLUENTBIT_ENABLE=ON -DFLUENTBIT_ROOT=${FLUENTBITINSTALLDIR} ..

 cmake --build . --target install

 logger.plugins: /usr/local/lib/openrtm-2.0/logger/FluentBit.so
 logger.logstream.fluentd.output0.plugin: forward
 logger.logstream.fluentd.output0.conf.match:*
 
 logger.logstream.fluentd.input0.plugin: lib
 logger.logstream.fluentd.input0.tag: test.simpleio

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/logger/rtc.fluentbit_stream.conf

 pip install fluent-logger

 manager.modules.load_path: C:\\Python37\\Lib\\site-packages\\OpenRTM_aist\\ext\\logger\\fluentlogger
 logger.plugins: FluentLogger.py
 logger.logstream.fluentd.output0.tag: test.simpleio

 2018-12-26 09:06:18.000000000 +0900 test.simpleio: {"message":"exit","time":"2018-12-26 09:06:18,841","name":"fluent.ec_worker","level":"TRACE"}

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\Components\C++\Examples\vc16\ConsoleOutComp.exe -f %RTM_ROOT%\ext\logger\rtc.fluentbit_stream.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/logger/rtc.fluentbit_stream.conf

 wget -qO - https://artifacts.elastic.co/GPG-KEY-elasticsearch | sudo apt-key add -
 add-apt-repository "deb https://artifacts.elastic.co/packages/7.x/apt stable main"
 sudo apt update
 sudo apt install elasticsearch=7.8.0
 sudo systemctl daemon-reload
 sudo systemctl enable elasticsearch.service

 network.bind_host: 0
 discovery.seed_hosts: ["127.0.0.1", "[::1]"]

 sudo systemctl restart elasticsearch.service

 -Xms1g
 -Xmx1g

 sudo apt install kibana=7.8.0
 sudo systemctl daemon-reload
 sudo systemctl enable kibana.service

 server.port: 5601
 server.host: "0.0.0.0"

 server.host: "192.168.11.2"

 sudo systemctl restart kibana.service

 logger.enable: YES
 logger.log_level: INFO
 
 
 logger.plugins: ${OPNRTM_INSTALL_DIR}/lib/openrtm-2.0/logger/FluentBit.so
 
 logger.logstream.fluentd.input.plugin: lib
 logger.logstream.fluentd.input.conf.tag: myRTCs_log
 
 logger.logstream.fluentd.output0.plugin: es
 logger.logstream.fluentd.output0.conf.match: *
 logger.logstream.fluentd.output0.conf.host: 127.0.0.1
 logger.logstream.fluentd.output0.conf.port: 9200
 logger.logstream.fluentd.output0.conf.Index: fluentbit

 ./share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f rtc.conf

 pip install elasticsearch==7.8.0
 pip install ecs-logging

 logger.enable: YES
 logger.log_level: PARANOID
 
 logger.plugins: C:\\Python37\\Lib\\site-packages\\OpenRTM_aist\\ext\\logger\\eslogger\\ESLogger.py
 
 logger.logstream.elasticsearch.output0.host: 127.0.0.1
 logger.logstream.elasticsearch.output0.port: 9200
 logger.logstream.elasticsearch.output0.index: fluentbit

 ConsoleOut.py -f rtc.conf

 > choco install -y python

 > choco install -y -s <'''ダウンロードしたパス'''> asio eigen tinyxml-usestl tinyxml2 log4cxx

 > python -m pip install -U catkin_pkg empy pyparsing pyyaml setuptools

 > call C:\dev\ros2\local_setup.bat

 > cmake  -DORB_ROOT=C:/workspace/omniORB-4.2.3-win64-vc14 -G "Visual Studio 16 2019" -A x64 -DFASTRTPS_ENABLE=ON -DROS2_ENABLE=ON ..

 > cmake .. -DCMAKE_INSTALL_PREFIX=C:/workspace/OpenRTM-aist/build_omni/install
 > cmake --build . --config Release --target install

 manager.modules.load_path: {インストールしたパス}\\2.0.0\\ext\\transport
 manager.modules.preload: FastRTPSTransport.dll, ROS2Transport.dll
 manager.components.preconnect: ConsoleOut0.in?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.topic=chatter, ConsoleIn0.out?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.topic=chatter
 manager.components.preactivation: ConsoleOut0, ConsoleIn0

 $ curl http://repo.ros2.org/repos.key | sudo apt-key add -
 $ sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
 $ export ROS_DISTRO=crystal
 $ sudo apt update
 $ sudo apt install ros-${ROS_DISTRO}-ros-core

 echo "source /opt/ros/crystal/setup.bash" >> ~/.bashrc
 source ~/.bashrc

 $ cmake -DCORBA=omniORB -DCMAKE_BUILD_TYPE=Release -DFASTRTPS_ENABLE=ON -DROS2_ENABLE=ON ..

 $ cmake --build . --target install

 manager.modules.load_path: /usr/local/lib/openrtm-2.0/transport/
 manager.modules.preload: FastRTPSTransport.so, ROS2Transport.so
 manager.components.preconnect: ConsoleOut0.in?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.topic=chatter, ConsoleIn0.out?interface_type=fast-rtps&marshaling_type=ros2:std_msgs/Float32&fast-rtps.topic=chatter
 manager.components.preactivation: ConsoleOut0, ConsoleIn0

 /usr/local/share/openrtm-2.0/components/c++/examples/ConsoleInComp

 /usr/local/share/openrtm-2.0/components/c++/examples/ConsoleOutComp

 python setup.py build
 python setup.py install

  call C:\dev\ros2\setup.bat

 manager.modules.load_path: C:\\Python37\\Lib\\site-packages\\OpenRTM_aist\\ext\\transport\\ROS2Transport
 manager.modules.preload: ROS2Transport.py
 manager.components.preconnect: ConsoleOut0.in?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32&ros2.topic=chatter, ConsoleIn0.out?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32&ros2.topic=chatter
 manager.components.preactivation: ConsoleOut0, ConsoleIn0

 $ curl http://repo.ros2.org/repos.key | sudo apt-key add -
 $ sudo sh -c 'echo "deb [arch=amd64,arm64] http://repo.ros2.org/ubuntu/main $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
 $ export ROS_DISTRO=crystal
 $ sudo apt update
 $ sudo apt install ros-${ROS_DISTRO}-desktop

 $ echo "source /opt/ros/crystal/setup.bash" >> ~/.bashrc
 $ source ~/.bashrc

 $  sudo apt-get install python-omniorb-omg omniidl-python doxygen

 $ python setup.py build
 $ python setup.py install

 $ export PYTHONPATH=$PYTHONPATH:/usr/local/lib/python3.6/site-packages
 $ export PATH=$PATH:/usr/local/lib/python3.6/site-packages/

 manager.modules.load_path: /usr/local/lib/python3.6/site-packages/OpenRTM_aist/ext/transport/ROS2Transport/
 manager.modules.preload: ROS2Transport.py
 manager.components.preconnect: ConsoleOut0.in?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32&ros2.topic=chatter, ConsoleIn0.out?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32&ros2.topic=chatter
 manager.components.preactivation: ConsoleOut0, ConsoleIn0

 $ python /usr/local/share/openrtm-2.0/components/python/SimpleIO/ConsoleIn.py

 $ python /usr/local/share/openrtm-2.0/components/python/SimpleIO/ConsoleOut.py

 manager.components.preconnect: ConsoleOut0.in?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32, ConsoleIn0.out?interface_type=ros2&marshaling_type=ros2:std_msgs/Float32

 D:\ros2-windows\setup.bat
 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\Components\C++\Examples\vc16\ConsoleOutComp.exe -f %RTM_ROOT%\ext\transport\rtc.ros2.conf

 source /opt/ros/dashing/setup.sh
 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/transport/rtc.ros2.conf

 #PKG_REPO_BASE="http://hara.jpn.com/cgi/" #修正前
 PKG_REPO_BASE="http://hara-jp.com/cgi/"  #修正後

 git clone https://github.com/haraisao/rpt
 cd rqt
 python src\rpt\rpt.py update
 python src\rpt\rpt.py install ros_base
 python src\rpt\rpt.py install ros_setup

 set ROS_HOME_DRIVE=D:
 set CMAKE_PREFIX_PATH=%CMAKE_PREFIX_PATH%;%ROS_HOME_DRIVE%/opt/ros/melodic/share

 D:\opt\ros\melodic\ros_setup.bat

 cmake -DORB_ROOT=C:/workspace/omniORB-4.2.3-win64-vc14 -DCORBA=omniORB -G "Visual Studio 16 2019" -A x64 -DROS_ENABLE=ON ..

 cmake --build . --config Release --target install

 manager.modules.load_path: C:\\workspace\\openrtm\\build_omni\\devel\\bin\\Release
 manager.modules.preload: ROSTransport.dll
 manager.components.preconnect: ConsoleOut0.in?interface_type=ros&marshaling_type=ros:std_msgs/Float32&ros.topic=chatter&ros.node.name=ConsoleOut0, ConsoleIn0.out?interface_type=ros&marshaling_type=ros:std_msgs/Float32&ros.topic=chatter&ros.node.name=ConsoleIn0
 manager.components.preactivation: ConsoleOut0, ConsoleIn0

 D:\opt\start_ros.bat

 ${OpenRTM_INSTALL_DIR}\2.0\Components\C++\Examples\ConsoleInComp.exe
 ${OpenRTM_INSTALL_DIR}\2.0\Components\C++\Examples\ConsoleOutComp.exe

 $ export ROS_DISTRO=melodic
 $ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
 $ sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net:80 --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116
 $ sudo apt-get -y update
 $ sudo apt-get -y install ros-${ROS_DISTRO}-ros-base
 $ sudo rosdep init
 $ rosdep update

 $ echo "source /opt/ros/${ROS_DISTRO}/setup.bash" >> ~/.bashrc
 $ source ~/.bashrc

 $ cmake -DCORBA=omniORB -DCMAKE_BUILD_TYPE=Release -DROS_ENABLE=ON ..

 $ cmake --build . --target install

 manager.modules.load_path: /usr/local/lib/openrtm-2.0/transport/
 manager.modules.preload: ROSTransport.so
 manager.components.preconnect: ConsoleOut0.in?interface_type=ros&marshaling_type=ros:std_msgs/Float32&ros.topic=chatter&ros.node.name=ConsoleOut0, ConsoleIn0.out?interface_type=ros&marshaling_type=ros:std_msgs/Float32&ros.topic=chatter&ros.node.name=ConsoleIn0
 manager.components.preactivation: ConsoleOut0, ConsoleIn0

 $ /usr/local/share/openrtm-2.0/components/c++/examples/ConsoleInComp

 $ /usr/local/share/openrtm-2.0/components/c++/examples/ConsoleOutComp

 python setup.py build
 python setup.py install

 D:\opt\start_ros.bat

 roscore

 set PYTHONPATH=%PYTHONPATH%;C:\Python37\Lib\site-packages;C:\Python37\Lib\site-packages\OpenRTM_aist;C:\Python37\Lib\site-packages\OpenRTM_aist\utils;C:\Python37\Lib\site-packages\OpenRTM_aist\RTM_IDL

 manager.modules.load_path: C:\\Python37\\Lib\\site-packages\\OpenRTM_aist\\ext\\transport\\ROSTransport
 manager.modules.preload: ROSTransport.py
 manager.components.preconnect: ConsoleOut0.in?interface_type=ros&marshaling_type=ros:std_msgs/Float32&ros.topic=chatter&ros.node.name=ConsoleOut0, ConsoleIn0.out?interface_type=ros&marshaling_type=ros:std_msgs/Float32&ros.topic=chatter&ros.node.name=ConsoleIn0
 manager.components.preactivation: ConsoleOut0, ConsoleIn0

 $ sudo apt-get install python-omniorb-omg omniidl-python doxygen

 $ git clone https://github.com/OpenRTM/OpenRTM-aist-Python
 $ cd OpenRTM-aist-Python
 $ python setup.py build
 $ sudo python setup.py install

 manager.modules.load_path: /usr/local/lib/python2.7/dist-packages/OpenRTM_aist/ext/transport/ROSTransport/
 manager.modules.preload: ROSTransport.py
 manager.components.preconnect: ConsoleOut0.in?interface_type=ros&marshaling_type=ros:std_msgs/Float32&ros.topic=chatter&ros.node.name=ConsoleOut0, ConsoleIn0.out?interface_type=ros&marshaling_type=ros:std_msgs/Float32&ros.topic=chatter&ros.node.name=ConsoleIn0
 manager.components.preactivation: ConsoleOut0, ConsoleIn0

 $ python /usr/local/share/openrtm-2.0/components/python/SimpleIO/ConsoleIn.py

 $ python /usr/local/share/openrtm-2.0/components/python/SimpleIO/ConsoleOut.py

 D:\opt\ros\melodic\ros_setup.bat
 roscore

 D:\opt\ros\melodic\ros_setup.bat
 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\Components\C++\Examples\vc16\ConsoleOutComp.exe -f %RTM_ROOT%\ext\transport\rtc.ros.conf

 source /opt/ros/melodic/setup.bash
 roscore

 source /opt/ros/melodic/setup.bash
 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/transport/rtc.ros.conf

  case CREATED_STATE:
    printf("Created state.");
    break;
  case INACTIVE_STATE:
    printf("Inactive state.");
    break;
  case ACTIVE_STATE:
    printf("Active state.");
    break;
  case ERROR_STATE:
    printf("Error state.");
   break;
  default:
     printf("Unknown state");
     break;

 cmake_minimum_required(VERSION 3.1)
 
 set(target CORBA_RTCUtil_test)
 project(${target} CXX)
 
 find_package(OpenRTM REQUIRED)
 
 add_definitions(${OPENRTM_CFLAGS})
 link_directories(${OPENRTM_LIBRARY_DIRS})
 
 add_executable(${target} ${target}.cpp)
 target_link_libraries(${target} ${OPENRTM_LIBRARIES})
 target_include_directories(${target} SYSTEM PRIVATE ${OPENRTM_INCLUDE_DIRS})

 %OPENRTM_INSTALL_DIR%\2.0.0\ext\environment-setup.omniorb.vc16.bat
 mkdir build
 cd build
 cmake ..

 #include <rtm/Manager.h>
 #include <rtm/NamingManager.h>
 #include <rtm/CORBA_RTCUtil.h>
 #include <iostream>
 
 
 int main (int argc, char** argv)
 {
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);
 
  manager->activateManager();
  manager->runManager(true);
 
  RTC::RTObject_var consolein = RTC::RTObject::_nil();
  RTC::RTObject_var consoleout = RTC::RTObject::_nil();
 
  RTC::NamingManager* nm = RTC::Manager::instance().getNaming();
  RTC::RTCList consoleinlist = nm->string_to_component("rtcname://localhost:2809/*/ConsoleIn0");
 
  if (consoleinlist.length() > 0)
  {
    consolein = consoleinlist[0];
  }
  else
  {
    std::cout << "Could not found ConsoleIn0" << std::endl;
    return 1;
  }
 
  RTC::RTCList consoleoutlist = nm->string_to_component("rtcname://localhost:2809/*/ConsoleOut0");
  
  if (consoleoutlist.length() > 0)
  {
    consoleout = consoleoutlist[0];
  }
  else
  {
    std::cout << "Could not found ConsoleOut0" << std::endl;
    return 1;
  }
  
  RTC::RTObject_var configsample = RTC::RTObject::_nil();
  RTC::RTCList configsamplelist = nm->string_to_component("rtcname://localhost:2809/*/ConfigSample0");
 
  if (configsamplelist.length() > 0)
  {
    configsample = configsamplelist[0];
  }
  else
  {
    std::cout << "Could not found ConfigSample0" << std::endl;
    return 1;
  }
  
  RTC::RTObject_var myserviceprovider = RTC::RTObject::_nil();
  RTC::RTCList myserviceproviderlist = nm->string_to_component("rtcname://localhost:2809/*/MyServiceProvider0");
 
  if (myserviceproviderlist.length() > 0)
  {
    myserviceprovider = myserviceproviderlist[0];
  }
  else
  {
    std::cout << "Could not found MyServiceProvider0" << std::endl;
    return 1;
  }
  
  RTC::RTObject_var myserviceconsumer = RTC::RTObject::_nil();
  RTC::RTCList myserviceconsumerlist = nm->string_to_component("rtcname://localhost:2809/*/MyServiceConsumer0");
 
  if (myserviceconsumerlist.length() > 0)
  {
    myserviceconsumer = myserviceconsumerlist[0];
  }
  else
  {
    std::cout << "Could not found MyServiceConsumer0" << std::endl;
    return 1;
  }
 
  //以降の処理はここに記述する
 
  manager->terminate();
  manager->join();
 
  return 0;
 }

 #!/usr/bin/env python
 # -*- coding: utf-8 -*-
 # -*- Python -*-
 
 import sys
 
 import OpenRTM_aist
 import OpenRTM_aist.CORBA_RTCUtil
 from omniORB import CORBA
 
 def main():
    mgr = OpenRTM_aist.Manager.init(sys.argv)
    mgr.activateManager()
    mgr.runManager(True)
 
 
    nm = OpenRTM_aist.Manager.instance().getNaming()
    consoleinlist = nm.string_to_component(
        "rtcname://localhost:2809/*/ConsoleIn0")
 
    if consoleinlist:
        consolein = consoleinlist[0]
    else:
        print("Could not found ConsoleIn0")
        sys.exit(1)
 
    consoleoutlist = nm.string_to_component(
        "rtcname://localhost:2809/*/ConsoleOut0")
    if consoleoutlist:
        consoleout = consoleoutlist[0]
    else:
        print("Could not found ConsoleOut0")
        sys.exit(1)
    
    configsamplelist = nm.string_to_component(
        "rtcname://localhost:2809/*/ConfigSample0")
    if consoleoutlist:
        configsample = consoleoutlist[0]
    else:
        print("Could not found ConfigSample0")
        sys.exit(1)
 
    myserviceproviderlist = nm.string_to_component(
        "rtcname://localhost:2809/*/MyServiceProvider0")
    if myserviceproviderlist:
        myserviceprovider = myserviceproviderlist[0]
    else:
        print("Could not found MyServiceProvider0")
        sys.exit(1)
 
    myserviceconsumerlist = nm.string_to_component(
        "rtcname://localhost:2809/*/ConsoleOut0")
    if myserviceconsumerlist:
        myserviceconsumer = myserviceconsumerlist[0]
    else:
        print("Could not found ConsoleOut0")
        sys.exit(1)
 
    #以降の処理はここに記述する
 
    mgr.shutdown()
 
 
 if __name__ == "__main__":
    main()

 manager.shutdown_auto: NO

  RTC::PortService_var port_in_var = CORBA_RTCUtil::get_port_by_name(consoleout.in(), "ConsoleOut0.in");
 
  if (CORBA::is_nil(port_in_var))
  {
    std::cout << "Could not found ConsoleOut0.in" << std::endl;
    return 1;
  }
 
  RTC::PortService_var port_out_var = CORBA_RTCUtil::get_port_by_name(consolein.in(), "ConsoleIn0.out");
 
  if (CORBA::is_nil(port_out_var))
  {
    std::cout << "Could not found ConsoleIn0.out" << std::endl;
    return 1;
  }

    port_in_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
        consoleout, "ConsoleOut0.in")
    if CORBA.is_nil(port_in_var):
        print("Could not found ConsoleOut0.in")
        sys.exit(1)
 
    port_out_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_name(
        consolein, "ConsoleIn0.out")
    if CORBA.is_nil(port_out_var):
        print("Could not found ConsoleOut0.in")
        sys.exit(1)

  RTC::PortService_var port_in_var = CORBA_RTCUtil::get_port_by_url("rtcname://localhost:2809/*/ConsoleOut0.in");
 
  if (CORBA::is_nil(port_in_var))
  {
    std::cout << "Could not found ConsoleOut0.in" << std::endl;
    return 1;
  }
 
  RTC::PortService_var port_out_var = CORBA_RTCUtil::get_port_by_url("rtcname://localhost:2809/*/ConsoleIn0.out");
 
  if (CORBA::is_nil(port_out_var))
  {
    std::cout << "Could not found ConsoleIn0.out" << std::endl;
    return 1;
  }

    port_in_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_url(
        "rtcname://localhost:2809/*/ConsoleOut0.in")
    if CORBA.is_nil(port_in_var):
        print("Could not found ConsoleOut0.in")
        sys.exit(1)
 
    port_out_var = OpenRTM_aist.CORBA_RTCUtil.get_port_by_url(
        "rtcname://localhost:2809/*/ConsoleIn0.out")
    if CORBA.is_nil(port_out_var):
        print("Could not found ConsoleOut0.in")
        sys.exit(1)

  coil::Properties prop;
  prop["dataport.dataflow_type"] = "push";
  prop["dataport.interface_type"] = "corba_cdr";
  prop["dataport.subscription_type"] = "new";
  CORBA_RTCUtil::connect("test_connector", prop, port_in_var.in(), port_out_var.in());

    prop = OpenRTM_aist.Properties()
    prop.setProperty("dataport.dataflow_type", "push")
    prop.setProperty("dataport.interface_type", "corba_cdr")
    prop.setProperty("dataport.subscription_type", "new")
    OpenRTM_aist.CORBA_RTCUtil.connect(
        "test_connector", prop, port_in_var, port_out_var)

  CORBA_RTCUtil::disconnect_connector_name(port_in_var.in(), "test_connector");

    OpenRTM_aist.CORBA_RTCUtil.disconnect_by_portref_connector_name(
        port_in_var, "test_connector")

  CORBA_RTCUtil::disconnect_connector_name("rtcname://localhost:2809/*/ConsoleOut0.in", "test_connector");

    OpenRTM_aist.CORBA_RTCUtil.disconnect_by_portname_connector_name(
        "rtcname://localhost:2809/*/ConsoleOut0.in", "test_connector")

  RTC::PortServiceList target_ports;
  target_ports.length(1);
  target_ports[0] = RTC::PortService::_duplicate(port_out_var.in());
  CORBA_RTCUtil::connect_multi("test_connector", prop, port_in_var.in(), target_ports);

    OpenRTM_aist.CORBA_RTCUtil.connect_multi(
        "test_connector", prop, port_in_var, [port_out_var])

  CORBA_RTCUtil::disconnect_all(port_in_var.in());

    OpenRTM_aist.CORBA_RTCUtil.disconnect_all_by_ref(port_in_var)

  CORBA_RTCUtil::disconnect_all("rtcname://localhost:2809/*/ConsoleIn0.out");

    OpenRTM_aist.CORBA_RTCUtil.disconnect_all_by_name(
        "rtcname://localhost:2809/*/ConsoleIn0.out")

  CORBA_RTCUtil::activate(consolein.in(), 0);
  CORBA_RTCUtil::activate(consoleout.in(), 0);

    OpenRTM_aist.CORBA_RTCUtil.activate(consoleout, 0)
    OpenRTM_aist.CORBA_RTCUtil.activate(consolein, 0)

  CORBA_RTCUtil::deactivate(consolein.in(), 0);
  CORBA_RTCUtil::deactivate(consoleout.in(), 0);

    OpenRTM_aist.CORBA_RTCUtil.deactivate(consoleout, 0)
    OpenRTM_aist.CORBA_RTCUtil.deactivate(consolein, 0)

  CORBA_RTCUtil::reset(consolein.in(), 0);
  CORBA_RTCUtil::reset(consoleout.in(), 0);

    OpenRTM_aist.CORBA_RTCUtil.reset(consoleout, 0)
    OpenRTM_aist.CORBA_RTCUtil.reset(consolein, 0)

  RTC::LifeCycleState state;
  CORBA_RTCUtil::get_state(state, consoleout.in(), 0);
  std::cout << state << std::endl;

    ret, state = OpenRTM_aist.CORBA_RTCUtil.get_state(consoleout, 0)
    print(state)

  {
    std::cout << "Inactive State" << std::endl;
  }
  else if (CORBA_RTCUtil::is_in_active(consoleout.in()))
  {
    std::cout << "Active State" << std::endl;
  }
  else if (CORBA_RTCUtil::is_in_error(consoleout.in()))
  {
    std::cout << "Error State" << std::endl;
  }

    if OpenRTM_aist.CORBA_RTCUtil.is_in_inactive(consoleout):
        print("Inactive State")
    elif OpenRTM_aist.CORBA_RTCUtil.is_in_active(consoleout):
        print("Active State")
    elif OpenRTM_aist.CORBA_RTCUtil.is_in_error(consoleout):
        print("Error State")

  CORBA_RTCUtil::set_default_rate(consoleout.in(), 20.0);

    OpenRTM_aist.CORBA_RTCUtil.set_default_rate(consoleout, 20.0)

  CORBA_RTCUtil::set_current_rate(consoleout.in(), 0, 50.0);

    OpenRTM_aist.CORBA_RTCUtil.set_current_rate(consoleout, 0, 50.0)

  std::cout << CORBA_RTCUtil::get_default_rate(consoleout.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_default_rate(consoleout))

  std::cout << CORBA_RTCUtil::get_current_rate(consoleout.in(), 0) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_current_rate(consoleout, 0))

  CORBA_RTCUtil::add_rtc_to_default_ec(consoleout.in(), consolein.in());

    OpenRTM_aist.CORBA_RTCUtil.add_rtc_to_default_ec(consoleout, consolein)

  CORBA_RTCUtil::remove_rtc_to_default_ec(consoleout.in(), consolein.in());

    OpenRTM_aist.CORBA_RTCUtil.remove_rtc_to_default_ec(consoleout, consolein)

  RTC::RTCList rtclist = CORBA_RTCUtil::get_participants_rtc(consoleout.in());
  for(CORBA::ULong i=0;i < rtclist.length();i++)
  {
    
    std::cout << i << "\t" << CORBA_RTCUtil::get_component_profile(rtclist[i].in()) << std::endl;
  }

    i = 0
    for rtc in OpenRTM_aist.CORBA_RTCUtil.get_participants_rtc(consoleout):
        print(i, OpenRTM_aist.CORBA_RTCUtil.get_component_profile(rtc))
        i += 1

  CORBA_RTCUtil::set_active_configuration(configsample.in(), "int_param1", "100");

    OpenRTM_aist.CORBA_RTCUtil.set_active_configuration(
        configsample, "int_param1", "100")

  CORBA_RTCUtil::set_configuration(configsample.in(), "mode0", "str_param1", "test");

    OpenRTM_aist.CORBA_RTCUtil.set_configuration(
        configsample, "mode0", "str_param1", "test")

  std::cout << CORBA_RTCUtil::get_active_configuration_name(configsample.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_active_configuration_name(configsample))

  std::cout << CORBA_RTCUtil::get_active_configuration(configsample.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_active_configuration(configsample))

  std::cout << CORBA_RTCUtil::get_configuration(configsample.in(), "mode1") << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_configuration(configsample, "mode1"))

  std::cout << CORBA_RTCUtil::get_parameter_by_key(configsample.in(), "mode1", "int_param1") << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_parameter_by_key(
        configsample, "mode1", "int_param1"))

  std::cout << CORBA_RTCUtil::get_component_profile(consolein.in()) << std::endl;

    print(OpenRTM_aist.CORBA_RTCUtil.get_component_profile(consolein))

  coil::vstring portlist = CORBA_RTCUtil::get_port_names(consolein.in());
  for (auto& port : portlist)
  {
    std::cout << port << std::endl;
  }

    for port in OpenRTM_aist.CORBA_RTCUtil.get_port_names(consolein):
        print(port)

  coil::vstring inportlist = CORBA_RTCUtil::get_inport_names(consoleout.in());
  for (auto& port : inportlist)
  {
    std::cout << port << std::endl;
  }

  coil::vstring outportlist = CORBA_RTCUtil::get_outport_names(consolein.in());
  for (auto& port : outportlist)
  {
    std::cout << port << std::endl;
  }
  
  coil::vstring svcportlist = CORBA_RTCUtil::get_svcport_names(myserviceprovider.in());
  for (auto& port : svcportlist)
  {
    std::cout << port << std::endl;
  }

    for port in OpenRTM_aist.CORBA_RTCUtil.get_inport_names(consoleout):
        print(port)
    for port in OpenRTM_aist.CORBA_RTCUtil.get_outport_names(consolein):
        print(port)
    for port in OpenRTM_aist.CORBA_RTCUtil.get_svcport_names(myserviceprovider):
        print(port)

  coil::vstring inconlist = CORBA_RTCUtil::get_connector_names(port_in_var.in());
  for (auto& connector : inconlist)
  {
    std::cout << connector << std::endl;
  }

    for connector in OpenRTM_aist.CORBA_RTCUtil.get_connector_names_by_portref(port_in_var):
        print(connector)

  coil::vstring outconlist = CORBA_RTCUtil::get_connector_names(consolein.in(), "ConsoleIn0.out");
  for (auto& connector : outconlist)
  {
    std::cout << connector << std::endl;
  }

    for connector in OpenRTM_aist.CORBA_RTCUtil.get_connector_names(consolein, "ConsoleIn0.out"):
        print(connector)

 rtcname://{ネームサーバーのIPアドレス}:{ネームサーバーのポート番号}/{ネーミングコンテキスト名(省略可)}/{RTCのバインディング名}

 rtcloc://{マスターマネージャのIPアドレス}:{マスターマネージャのポート番号}/{RTCのカテゴリ名(省略可)}/{RTCのインスタンス名}

 manager.components.preconnect: ConsoleIn0.out?port=rtcname://localhost:2809/test.host_cxt/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcname://localhost:2809/test.host_cxt/ConsoleOut0

 manager.components.preconnect: ConsoleIn0.out?port=rtcname://localhost:2809/*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcname://localhost:2809/*/ConsoleOut0

 rtcname.{プロトコル名}://{ネームサーバーのIPアドレス}:{ネームサーバーのポート番号}/{ネーミングコンテキスト名(省略可)}/{RTCのバインディング名}

 naming.type: corba, manager
 manager.components.preconnect: ConsoleIn0.out?port=rtcloc://localhost:2810/example/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcloc://localhost:2810/example/ConsoleOut0

 manager.components.preconnect: ConsoleIn0.out?port=rtcloc://localhost:2810/*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcloc://localhost:2810/*/ConsoleOut0

 rtcloc.{プロトコル名}://{マスターマネージャのIPアドレス}:{マスターマネージャのポート番号}/{RTCのカテゴリ名(省略可)}/{RTCのインスタンス名}

 POST /call HTTP/1.1
 Host: localhost:2809
 User-Agent: omniORB
 Connection: keep-alive
 Content-Type: application/octet-stream
 Content-Length: 103
 
 GIOP\x01\x02\x01\x00[\x00\x00\x00\x02\x00\x00\x00\x03\x00\x00\x00\x00\x00\x00\x00\x0b\x00\x00\x00NameService\x00\x06\x00\x00\x00_is_a\x00\x00\x00\x00\x00\x00\x00+\x00\x00\x00IDL:omg.org/CosNaming/NamingContextExt:1.0\x00

 set OPENRTM_INSTALL_DIR=C:/work/openrtm_install
 set OMNIORB_SOURCE_DIR=C:/workspace/omniORB-4.3.0-x64-vc16-py310
 set OPENSSL_ROOT_DIR=C:/work/OpenSSL/x64
 cmake .. -DORB_ROOT=%OMNIORB_SOURCE_DIR% -DHTTP_ENABLE=ON -DOPENSSL_ROOT_DIR=%OPENSSL_ROOT_DIR% -DCMAKE_INSTALL_PREFIX=%OPENRTM_INSTALL_DIR%
 cmake --build . --config Release
 cmake --build . --config Release --target install

 sudo apt install libssl-dev

 set OPENRTM_INSTALL_DIR=~/work/openrtm_install
 cmake .. -DHTTP_ENABLE=ON -DCMAKE_INSTALL_PREFIX=$OPENRTM_INSTALL_DIR
 cmake --build . --config Release -- -j$(nproc)
 cmake --build . --config Release --target install

 %OPENRTM_INSTALL_DIR%\2.0.0\bin\vc16\openrtmNames.exe -f %OPENRTM_INSTALL_DIR%/2.0.0/ext/rtc.names.http.conf

 $OPENRTM_INSTALL_DIR/bin/openrtmNames -f $OPENRTM_INSTALL_DIR/etc/rtc.names.http.conf

 manager.modules.load_path: C:/work/openrtm_install/2.0.0/ext/vc16/http
 manager.preload.modules: HTTPTransport.dll
 
 corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:http:///call
 corba.nameservers: http://localhost:2809/call
 corba.master_manager: http:http://localhost:2810/call

 manager.modules.load_path: C:/Python37/Lib/site-packages/OpenRTM_aist/ext/http
 manager.preload.modules: HTTPTransport.py
 
 corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:http:///call
 corba.nameservers: http://localhost:2809/call
 corba.master_manager: http:http://localhost:2810/call

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleInComp.exe -f rtc.conf

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleOutComp.exe -f rtc.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f rtc.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleInComp -f rtc.conf

 python %OpenRTMPython_INSTALL_DIR%\Lib\site-packages\ConsoleIn.py -f rtc.conf

 python %OpenRTMPython_INSTALL_DIR%\Lib\site-packages\ConsoleOut.py -f rtc.conf

 python3 ${OpenRTMPython_INSTALL_DIR}/share/openrtm-2.0/components/python3/SimpleIO/ConsoleOut.py -f rtc.conf

 python3 ${OpenRTMPython_INSTALL_DIR}/share/openrtm-2.0/components/python3/SimpleIO/ConsoleIn.py -f rtc.conf

 %OPENRTM_INSTALL_DIR%\2.0.0\bin\vc16\openrtmNames.exe -f %OPENRTM_INSTALL_DIR%/2.0.0/ext/rtc.names.https.conf
 $OPENRTM_INSTALL_DIR/bin/openrtmNames -f $OPENRTM_INSTALL_DIR/etc/rtc.names.https.conf

 manager.modules.load_path: C:/work/openrtm_install/2.0.0/ext/vc16/http
 manager.preload.modules: HTTPTransport.dll
 
 corba.http.certificate_authority_file:C:/work/openrtm_install/2.0.0/ext/ssl/root.crt
 corba.http.key_file:C:/work/openrtm_install/2.0.0/ext/ssl/server.pem
 corba.http.key_file_password:password
 corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:https:///call
 corba.nameservers: https://localhost:2809/call
 corba.master_manager: http:https://localhost:2810/call

 manager.modules.load_path: C:/Python37/Lib/site-packages/OpenRTM_aist/ext/http
 manager.preload.modules: HTTPTransport.py
 
 corba.http.certificate_authority_file:C:/Python37/Lib/site-packages/OpenRTM_aist/ext/ssl/root.crt
 corba.http.key_file:C:/Python37/Lib/site-packages/OpenRTM_aist/ext/ssl/server.pem
 corba.http.key_file_password:password
 corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:https:///call
 corba.nameservers: https://localhost:2809/call
 corba.master_manager: http:https://localhost:2810/call

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleInComp.exe -f rtc.conf

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleOutComp.exe -f rtc.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f rtc.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleInComp -f rtc.conf

 python %OpenRTMPython_INSTALL_DIR%\Lib\site-packages\ConsoleIn.py -f rtc.conf

 python %OpenRTMPython_INSTALL_DIR%\Lib\site-packages\ConsoleOut.py -f rtc.conf

 python3 ${OpenRTMPython_INSTALL_DIR}/share/openrtm-2.0/components/python3/SimpleIO/ConsoleOut.py -f rtc.conf

 python3 ${OpenRTMPython_INSTALL_DIR}/share/openrtm-2.0/components/python3/SimpleIO/ConsoleIn.py -f rtc.conf

 %OPENRTM_INSTALL_DIR%\2.0.0\bin\vc16\openrtmNames.exe -f %OPENRTM_INSTALL_DIR%/2.0.0/ext/rtc.names.ws.conf

 $OPENRTM_INSTALL_DIR/bin/openrtmNames -f $OPENRTM_INSTALL_DIR/etc/rtc.names.ws.conf

 manager.modules.load_path: C:/work/openrtm_install/2.0.0/ext/vc16/http
 manager.preload.modules: HTTPTransport.dll
 
 corba.args:-ORBserverTransportRule "* http,tcp" -ORBclientTransportRule "* http,tcp" -ORBendPoint giop:http:ws:///ws -ORBendPoint giop:tcp::
 corba.nameservers: ws://localhost:2809/ws
 corba.master_manager: giop:http:ws://localhost:2810/ws

 manager.modules.load_path: C:/Python37/Lib/site-packages/OpenRTM_aist/ext/http
 manager.preload.modules: HTTPTransport.py
 
 corba.args:-ORBserverTransportRule "* http,tcp" -ORBclientTransportRule "* http,tcp" -ORBendPoint giop:http:ws:///ws -ORBendPoint giop:tcp::
 corba.nameservers: ws://localhost:2809/ws
 corba.master_manager: giop:http:ws://localhost:2810/ws

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleInComp.exe -f rtc.conf

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleOutComp.exe -f rtc.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f rtc.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleInComp -f rtc.conf

 python %OpenRTMPython_INSTALL_DIR%\Lib\site-packages\ConsoleIn.py -f rtc.conf

 python %OpenRTMPython_INSTALL_DIR%\Lib\site-packages\ConsoleOut.py -f rtc.conf

 python3 ${OpenRTMPython_INSTALL_DIR}/share/openrtm-2.0/components/python3/SimpleIO/ConsoleOut.py -f rtc.conf

 python3 ${OpenRTMPython_INSTALL_DIR}/share/openrtm-2.0/components/python3/SimpleIO/ConsoleIn.py -f rtc.conf

 %OPENRTM_INSTALL_DIR%\2.0.0\bin\vc16\openrtmNames.exe -f %OPENRTM_INSTALL_DIR%/2.0.0/ext/rtc.names.wss.conf

 $OPENRTM_INSTALL_DIR/bin/openrtmNames -f $OPENRTM_INSTALL_DIR/etc/rtc.names.https.conf

 manager.modules.load_path: C:/work/openrtm_install/2.0.0/ext/vc16/http
 manager.preload.modules: HTTPTransport.dll
 
 corba.http.certificate_authority_file:C:/work/openrtm_install/2.0.0/ext/ssl/root.crt
 corba.http.key_file:C:/work/openrtm_install/2.0.0/ext/ssl/server.pem
 corba.http.key_file_password:password
 corba.args:-ORBserverTransportRule "* http,tcp" -ORBclientTransportRule "* http,tcp" -ORBendPoint giop:http:wss:///ws -ORBendPoint giop:tcp::
 corba.nameservers: wss://localhost:2809/ws
 corba.master_manager: giop:http:wss://localhost:2810/ws

 manager.modules.load_path: C:/Python37/Lib/site-packages/OpenRTM_aist/ext/http
 manager.preload.modules: HTTPTransport.py
 
 corba.http.certificate_authority_file:C:/Python37/Lib/site-packages/OpenRTM_aist/ext/ssl/root.crt
 corba.http.key_file:C:/Python37/Lib/site-packages/OpenRTM_aist/ext/ssl/server.pem
 corba.http.key_file_password:password
 corba.args:-ORBserverTransportRule "* http,tcp" -ORBclientTransportRule "* http,tcp" -ORBendPoint giop:http:wss:///ws -ORBendPoint giop:tcp::
 corba.nameservers: wss://localhost:2809/ws
 corba.master_manager: giop:http:wss://localhost:2810/ws

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleInComp.exe -f rtc.conf

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleOutComp.exe -f rtc.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f rtc.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleInComp -f rtc.conf

 python %OpenRTMPython_INSTALL_DIR%\Lib\site-packages\ConsoleIn.py -f rtc.conf

 python %OpenRTMPython_INSTALL_DIR%\Lib\site-packages\ConsoleOut.py -f rtc.conf

 python3 ${OpenRTMPython_INSTALL_DIR}/share/openrtm-2.0/components/python3/SimpleIO/ConsoleOut.py -f rtc.conf

 python3 ${OpenRTMPython_INSTALL_DIR}/share/openrtm-2.0/components/python3/SimpleIO/ConsoleIn.py -f rtc.conf

 manager.components.preconnect: ConsoleIn0.out?port=rtcname.http://localhost:2809/call#*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcname.http://localhost:2809/call#*/ConsoleOut0

 naming.type: corba, manager
 manager.components.preconnect: ConsoleIn0.out?port=rtcloc.http://localhost:2810/call#*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcloc.http://localhost:2810/call#*/ConsoleOut0

 manager.components.preconnect: ConsoleIn0.out?port=rtcname.https://localhost:2809/call#*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcname.https://localhost:2809#call/*/ConsoleOut0

 naming.type: corba, manager
 manager.components.preconnect: ConsoleIn0.out?port=rtcloc.https://localhost:2810/call#*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcloc.https://localhost:2810/call#*/ConsoleOut0

 manager.components.preconnect: ConsoleIn0.out?port=rtcname.ws://localhost:2809/ws#*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcname.ws://localhost:2809/ws#*/ConsoleOut0

 naming.type: corba, manager
 manager.components.preconnect: ConsoleIn0.out?port=rtcloc.ws://localhost:2810/call#*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcloc.ws://localhost:2810/call#*/ConsoleOut0

 manager.components.preconnect: ConsoleIn0.out?port=rtcname.wss://localhost:2809/ws#*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcname.wss://localhost:2809/ws#*/ConsoleOut0

 naming.type: corba, manager
 manager.components.preconnect: ConsoleIn0.out?port=rtcloc.wss://localhost:2810/ws#*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcloc.wss://localhost:2810/ws#*/ConsoleOut0

 set RTCTREE_HTTP_ENABLE=YES
 set ORBhttpsCAFile=%RTM_ROOT%/ext/ssl/root.crt
 set ORBhttpsKeyFile=%RTM_ROOT%/ext/ssl/server.pem
 set ORBhttpsKeyPassword=password
 set RTCTREE_NAMESERVERS=https://localhost:2809/call
 set ORBserverTransportRule=* http
 set ORBclientTransportRule=* http
 set ORBendPoint=giop:http:https:///call

 rtcon /https:localhost:2809/call#test.host_cxt/ConsoleIn0.rtc:out /https:localhost:2809/call#est.host_cxt/ConsoleOut0.rtc:in
 rtact /https:localhost:2809/call#test.host_cxt/ConsoleIn0.rtc /https:localhost:2809/call#test.host_cxt/ConsoleOut0.rtc
 rtdeact /https:localhost:2809/call#test.host_cxt/ConsoleIn0.rtc /https:localhost:2809/call#test.host_cxt/ConsoleOut0.rtc
 rtexit /https:localhost:2809/call#test.host_cxt/ConsoleOut0.rtc
 rtcryo /https:localhost:2809/call -o sys.rtsys

 corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:https:///call -ORBhttpProxy http://localhost:3128 -ORBhttpProxyUsername username -ORBhttpProxyPassword pass

 sudo apt-get install nodejs nodejs-dev node-gyp libssl1.0-dev npm
 sudo npm install -g n
 sudo n latest

 git clone https://github.com/Nobu19800/corba.js
 cd corba.js
 npm install
 npm run build

 cd ..
 git clone https://github.com/Nobu19800/openrtm_corbajs_test
 cd openrtm_corbajs_test
 npm install

 rm -rf node_modules/corba.js
 cp -r ../corba.js/ node_modules/
 npm run build

 %OPENRTM_INSTALL_DIR%\2.0.0\bin\vc16\openrtmNames.exe -f %OPENRTM_INSTALL_DIR%/2.0.0/ext/rtc.names.ws.conf

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleOutComp.exe -f rtc.conf

 $OPENRTM_INSTALL_DIR/bin/openrtmNames -f $OPENRTM_INSTALL_DIR/etc/rtc.names.ws.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f rtc.conf

 corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:ws://127.0.0.1:2809/ws

 import { WsProtocol } from "corba.js/net/ws"
 //import { WsProtocol } from "corba.js/net/browser"

 let print = console.log
 //let print = alert

 npm run build
 node lib/openrtmTestMain.js

 import { ORB, GIOPDecoder } from 'corba.js'
 import { NamingContextExtStub } from 'corba.js'
 //import { WsProtocol } from "corba.js/net/ws"
 import { WsProtocol } from "corba.js/net/browser"
 import * as skel from "./example_echo_skel.js"
 import * as stub from "./example_echo_stub.js"
 import * as RTC_skel from "./RTC_skel.js"
 import * as RTC_stub from "./RTC_stub.js"
 import * as RTC_interface from "./RTC.js"
 import * as RTC_value from "./RTC_value.js"
 import * as RTC_valuetype from "./RTC_valuetype.js"

    orb.registerStubClass(RTC_stub.RTC.RTObject)

    orb.addProtocol(new WsProtocol())

    await orb.stringToObject(address+"#NameService").then(
      (nameobject: any) => {
        let rootContext = NamingContextExtStub.narrow(nameobject)

        rootContext.resolve_str(rtcpath).then(
          (reference: any) => {
            orb.getConnection(reference.host, reference.port, reference.pathname).then(
              (objectConnection: any) => {
                let rtc = new RTC_stub.RTC.RTObject(objectConnection.orb, reference.objectKey, objectConnection);

                rtc.exit().then(
                  (ret: RTC_interface.RTC.ReturnCode_t) => {
                  if(ret === RTC_interface.RTC.ReturnCode_t.RTC_OK)
                  {
                    print("RTC termination process has completed successfully.")
                  }
                  else
                  {
                    print("error code:"+ret)
                  }

    export interface NameValue {
        name: string
        value: any
    }
    export function initNameValue(object: NameValue, init?: Partial<NameValue> | GIOPDecoder) {
        if (init instanceof GIOPDecoder) {
            const decoder = init
            object.name = decoder.string()
            object.name = decoder.any()
        } else {
            object.name = (init === undefined || init.name === undefined) ? "" : init.name
        }
    }
    export function encodeNameValue(encoder: GIOPEncoder, obj: NameValue) {
        encoder.string(obj.name)
        encoder.any(obj.name)
    }

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\bin\vc16\openrtmNames.exe -f %RTM_ROOT%\ext\rtc.names.http.conf

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\Components\C++\Examples\vc16\ConsoleOutComp.exe -f %RTM_ROOT%\ext\http\rtc.http.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
 ${OPENRTM_INSTALL_DIR}/bin/openrtmNames -f ${OPENRTM_INSTALL_DIR}/etc/rtc.names.http.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh 
 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/http/rtc.http.conf

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\bin\vc16\openrtmNames.exe -f %RTM_ROOT%\ext\rtc.names.https.conf

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\Components\C++\Examples\vc16\ConsoleOutComp.exe -f %RTM_ROOT%\ext\http\rtc.https.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
 ${OPENRTM_INSTALL_DIR}/bin/openrtmNames -f ${OPENRTM_INSTALL_DIR}/etc/rtc.names.https.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh 
 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/http/rtc.https.conf

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\bin\vc16\openrtmNames.exe -f %RTM_ROOT%\ext\rtc.names.ws.conf

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\Components\C++\Examples\vc16\ConsoleOutComp.exe -f %RTM_ROOT%\ext\http\rtc.ws.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
 ${OPENRTM_INSTALL_DIR}/bin/openrtmNames -f ${OPENRTM_INSTALL_DIR}/etc/rtc.names.ws.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh 
 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/http/rtc.ws.conf

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\bin\vc16\openrtmNames.exe -f %RTM_ROOT%\ext\rtc.names.wss.conf

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\Components\C++\Examples\vc16\ConsoleOutComp.exe -f %RTM_ROOT%\ext\http\rtc.wss.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
 ${OPENRTM_INSTALL_DIR}/bin/openrtmNames -f ${OPENRTM_INSTALL_DIR}/etc/rtc.names.wss.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh 
 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/wss/rtc.http.conf

 set OPENRTM_INSTALL_DIR=C:/work/openrtm_install
 set OMNIORB_SOURCE_DIR=C:/workspace/omniORB-4.2.5-x64-vc14-py310
 set OPENSSL_ROOT_DIR=C:/work/OpenSSL/x64
 cmake .. -DORB_ROOT=%OMNIORB_SOURCE_DIR% -DSSL_ENABLE=ON -DOPENSSL_ROOT_DIR=%OPENSSL_ROOT_DIR% -DCMAKE_INSTALL_PREFIX=%OPENRTM_INSTALL_DIR%
 cmake --build . --config Release
 cmake --build . --config Release --target install

 sudo apt install libssl-dev

 set OPENRTM_INSTALL_DIR=~/work/openrtm_install
 cmake .. -DSSL_ENABLE=ON -DCMAKE_INSTALL_PREFIX=$OPENRTM_INSTALL_DIR
 cmake --build . --config Release -- -j$(nproc)
 cmake --build . --config Release --target install

 %OPENRTM_INSTALL_DIR%\2.0.0\bin\vc16\openrtmNames.exe -f %OPENRTM_INSTALL_DIR%\2.0.0\ext\rtc.names.ssl.conf

 $OPENRTM_INSTALL_DIR/bin/openrtmNames -f $OPENRTM_INSTALL_DIR/etc/rtc.names.ssl.conf

 manager.modules.load_path: C:/work/openrtm_install/2.0.0/ext/ssl
 manager.preload.modules: SSLTransport.dll
 
 corba.ssl.certificate_authority_file:C:/work/openrtm_install/2.0.0/ext/ssl/root.crt
 corba.ssl.key_file:C:/work/openrtm_install/2.0.0/ext/ssl/server.pem
 corba.ssl.key_file_password:password
 corba.args:-ORBserverTransportRule "* ssl" -ORBclientTransportRule "* ssl" -ORBendPoint giop:ssl::
 corba.nameservers: corbaloc:ssliop:localhost:2809
 corba.master_manager: giop:ssl:localhost:2810

 manager.modules.load_path: C:/Python37/Lib/site-packages/OpenRTM_aist/ext/vc16/ssl
 manager.preload.modules: SSLTransport.py
 
 corba.ssl.certificate_authority_file:C:/Python37/Lib/site-packages/OpenRTM_aist/ext/ssl/root.crt
 corba.ssl.key_file:C:/Python37/Lib/site-packages/OpenRTM_aist/ext/ssl/server.pem
 corba.ssl.key_file_password:password
 corba.args:-ORBserverTransportRule "* ssl" -ORBclientTransportRule "* ssl" -ORBendPoint giop:ssl::
 corba.nameservers: corbaloc:ssliop:localhost:2809
 corba.master_manager: giop:ssl:localhost:2810

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleInComp.exe -f rtc.conf

 %OPENRTM_INSTALL_DIR%\2.0.0\Components\C++\Examples\vc16\ConsoleOutComp.exe -f rtc.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f rtc.conf

 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleInComp -f rtc.conf

 python %OpenRTMPython_INSTALL_DIR%\Lib\site-packages\ConsoleIn.py -f rtc.conf

 python %OpenRTMPython_INSTALL_DIR%\Lib\site-packages\ConsoleOut.py -f rtc.conf

 python3 ${OpenRTMPython_INSTALL_DIR}/share/openrtm-2.0/components/python3/SimpleIO/ConsoleOut.py -f rtc.conf

 python3 ${OpenRTMPython_INSTALL_DIR}/share/openrtm-2.0/components/python3/SimpleIO/ConsoleIn.py -f rtc.conf

 manager.components.preconnect: ConsoleIn0.out?port=rtcname.ssliop://localhost:2809/*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcname.ssliop://localhost:2809/*/ConsoleOut0

 naming.type: corba, manager
 manager.components.preconnect: ConsoleIn0.out?port=rtcloc.ssliop://localhost:2810/*/ConsoleOut0.in
 manager.components.preactivation: ConsoleIn0, rtcloc.ssliop://localhost:2810/*/ConsoleOut0

 set RTCTREE_SSL_ENABLE=YES
 set ORBsslCAFile=%RTM_ROOT%/ext/ssl/root.crt
 set ORBsslKeyFile=%RTM_ROOT%/ext/ssl/server.pem
 set ORBsslKeyPassword=password
 set RTCTREE_NAMESERVERS=ssliop:localhost:2809
 set ORBserverTransportRule=* ssl
 set ORBclientTransportRule=* ssl
 set ORBendPoint=giop:ssl::

 rtcon /ssliop:localhost:2809/test.host_cxt/ConsoleIn0.rtc:out /ssliop:localhost:2809/test.host_cxt/ConsoleOut0.rtc:in
 rtact /ssliop:localhost:2809/test.host_cxt/ConsoleIn0.rtc /ssliop:localhost:2809/test.host_cxt/ConsoleOut0.rtc
 rtdeact /ssliop:localhost:2809/test.host_cxt/ConsoleIn0.rtc /ssliop:localhost:2809/test.host_cxt/ConsoleOut0.rtc
 rtexit /ssliop:localhost:2809/test.host_cxt/ConsoleOut0.rtc
 rtcryo ssliop:localhost:2809 -o sys.rtsys

 mkdir root
 cd root
 mkdir newcerts
 type nul > index.txt
 echo 01 > serial
 echo 00 > crlnumberl
 openssl genrsa -out RootCA_key.pem -passout pass:rootpass 2048
 openssl req -new -subj "/C=JP/ST=Tokyo/O=EXAMPLE/CN=EXAMPLE Root CA" -out RootCA_csr.pem  -key RootCA_key.pem  -passin pass:rootpass -config ../conf/openssl_sign.cnf
 openssl ca  -batch -extensions v3_ca -out RootCA_crt.pem -in RootCA_csr.pem -selfsign -keyfile RootCA_key.pem -passin pass:rootpass -config ../conf/openssl_sign.cnf
 openssl x509 -in RootCA_crt.pem -out RootCA_crt.pem
 cd ..

 mkdir inter
 cd inter
 mkdir newcerts
 type nul > index.txt
 echo 01 > serial
 echo 00 > crlnumberl
 openssl genrsa -out InterCA_key.pem -passout pass:interpass 2048
 openssl req -new -subj "/C=JP/ST=Tokyo/O=EXAMPLE/CN=EXAMPLE Intermediate CA" -out InterCA_csr.pem -key InterCA_key.pem -passin pass:interpass -config ../conf/openssl_sign.cnf
 cd ..

 cd root
 openssl ca -batch -extensions v3_ca -out ..\inter\InterCA_crt.pem -in  ..\inter\InterCA_csr.pem -cert RootCA_crt.pem -keyfile RootCA_key.pem -passin pass:interpass -config ../conf/openssl_sign.cnf
 cd ..

 mkdir server
 cd server
 mkdir newcerts
 type nul > index.txt
 echo 01 > serial
 echo 00 > crlnumberl
 openssl genrsa -out Server_key.pem -passout pass:serverpass 2048
 openssl req -new -subj "/C=JP/ST=Tokyo/O=EXAMPLE/CN=EXAMPLE Server" -out Server_csr.pem -key Server_key.pem -passin pass:serverpass -config ../conf/openssl_sign.cnf
 cd ..

 cd inter
 openssl x509 -req -in ..\server\Server_csr.pem -sha256 -CA InterCA_crt.pem -CAkey InterCA_key.pem -set_serial 01 -days 730 -out ..\server\Server_crt.pem -passin pass:serverpass
 cd ..

 cd server
 openssl x509 -in Server_crt.pem -out Server_crt.pem
 openssl x509 -in ..\inter\InterCA_crt.pem -out InterCA_crt.pem
 copy /b Server_key.pem + Server_crt.pem + InterCA_crt.pem server.pem

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\bin\vc16\openrtmNames.exe -f %RTM_ROOT%\ext\rtc.names.ssl.conf

 %RTM_ROOT%\ext\environment-setup.omniorb.vc16.bat
 %RTM_ROOT%\Components\C++\Examples\vc16\ConsoleOutComp.exe -f %RTM_ROOT%\ext\ssl\rtc.ssl.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
 ${OPENRTM_INSTALL_DIR}/bin/openrtmNames -f ${OPENRTM_INSTALL_DIR}/etc/rtc.names.ssl.conf

 source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh 
 ${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/ssl/rtc.ssl.conf

 mkdir build
 cd build
 set OPENRTM_DIR={OpenRTM-aistをインストールしたディレクトリ}\2.0.0\cmake cmake -G "Visual Studio 15 2017" -A x64 ..
 cmake --build . --config Release

 cmake_minimum_required(VERSION 3.1)
 
 set(target TestLogger)
 project(${target} CXX)
 
 find_package(OpenRTM REQUIRED)
 
 
 
 add_definitions(${OPENRTM_CFLAGS})
 link_directories(${OPENRTM_LIBRARY_DIRS})
 
 add_library(${target} SHARED ${target}.cpp ${target}.h)
 target_link_libraries(${target} ${OPENRTM_LIBRARIES})
 target_include_directories(${target} SYSTEM PRIVATE ${OPENRTM_INCLUDE_DIRS})
 set_target_properties(${target} PROPERTIES PREFIX "")

 #ifndef TESTLOGGER_H
 #define TESTLOGGER_H
 
 
 #include <rtm/LogstreamBase.h>
 
 
 class TestLoggerStream
  : public coil::LogStreamBuffer
 {
 public:
   TestLoggerStream();
   ~TestLoggerStream() override;
   bool init(const coil::Properties& prop);
    void write(int level, const std::string& name, const std::string& date, const std::string& mes) override;
 private:
   std::string header;
 };
 
 class TestLogger
  : public RTC::LogstreamBase
 {
 public:
   TestLogger();
   ~TestLogger() override;
   bool init(const coil::Properties& prop) override;
   coil::LogStreamBuffer* getStreamBuffer() override;
 private:
   TestLoggerStream m_logstream;
 };
 
 extern "C"
 {
   void DLL_EXPORT TestLoggerInit();
 }
 
 #endif

 #include "TestLogger.h"
 #include <iostream>
 
 
 TestLoggerStream::TestLoggerStream()
 {
 }
 
 TestLoggerStream::~TestLoggerStream()
 {
 }
 
 bool TestLoggerStream::init(const coil::Properties& prop)
 {
   header = prop["header"];
   return true;
 }
 
 void TestLoggerStream::write(int level, const std::string& name, const std::string& date, const std::string& mes)
 {
   std::cout << header << ":" << mes << std::endl;
 }
 
 
 TestLogger::TestLogger()
 {
 }
 
 TestLogger::~TestLogger()
 {
 }
 
 bool TestLogger::init(const coil::Properties& prop)
 {
   m_logstream.init(prop);
   return true;
 }
 
 coil::LogStreamBuffer* TestLogger::getStreamBuffer()
 {
   return &m_logstream;
 }
 
 
 extern "C"
 {
   void TestLoggerInit()
   {
     ::RTC::LogstreamFactory::
       instance().addFactory("testlogger",
                            ::coil::Creator< ::RTC::LogstreamBase,
                                             TestLogger>,
                            ::coil::Destructor< ::RTC::LogstreamBase,
                                                TestLogger>);
   }
 }

 logger.enable: YES
 logger.log_level: VERBOSE
 
 logger.plugins: TestLogger.dll
 
 logger.logstream.testlogger.enable: ON
 logger.logstream.testlogger.header: example

 #!/usr/bin/env python3
 # -*- coding: utf-8 -*-
 
 
 import OpenRTM_aist
 
 
 class TestLogger(OpenRTM_aist.LogstreamBase):
 
    def __init__(self):
        OpenRTM_aist.LogstreamBase.__init__(self)
        self._header = ""
 
    def __del__(self):
        pass
 
    def init(self, prop):
        self._header = prop.getProperty("header")
        return True
 
    def log(self, msg, level, name):
        print(self._header+":"+msg)
        return True
 
    def setLogLevel(self, level):
        pass
 
    def shutdown(self):
        return True
 
 
 def TestLoggerInit(mgr):
    OpenRTM_aist.LogstreamFactory.instance().addFactory("testlogger",
                                                        TestLogger)

 logger.enable: YES
 logger.log_level: VERBOSE
 
 logger.plugins: TestLogger.py
 
 logger.logstream.testlogger.enable: ON
 logger.logstream.testlogger.header: example

 set OPENRTM_INSTALL_DIR=C:/work/openrtm_install
 set OMNIORB_SOURCE_DIR=C:/workspace/omniORB-4.2.5-x64-vc14-py310
 cmake .. -DORB_ROOT=%OMNIORB_SOURCE_DIR% -DCMAKE_INSTALL_PREFIX=%OPENRTM_INSTALL_DIR%
 cmake --build . --config Release
 cmake --build . --config Release --target install

 set CHOREONOID_INSTALL_DIR=C:/work/choreonoid_install
 Invoke-WebRequest -Uri https://github.com/choreonoid/choreonoid/archive/refs/tags/v1.7.0.zip -OutFile choreonoid-1.7.0.zip
 Expand-Archive -Path choreonoid-1.7.0.zip -DestinationPath .
 Rename-Item choreonoid-1.7.0 choreonoid
 cd choreonoid
 mkdir build
 cd build
 cmake .. -DENABLE_CORBA=ON -DBUILD_CORBA_PLUGIN=ON -DINSTALL_SDK=ON -DCHOREONOID_OMNIORB_DIR=%OPENRTM_INSTALL_DIR%/2.0.0/omniORB/4.2.5_vc16 -DENABLE_PYTHON=ON -DCMAKE_INSTALL_PREFIX=%CHOREONOID_INSTALL_DIR%
 cmake --build . --config Release
 cmake --build . --config Release --target install

 nameServerProcess.start(QString("\"") + command.c_str() + "\""); //修正前
 
 nameServerProcess.start(QString("\"") + command.c_str() + "\"", QStringList()); //修正後