Install Eclipse tools for OpenRTM-aist 1.1

RTCBuilder and RTSystemEditor are development tools that support the development of RT Components and RT Systems. They are plug-ins for the Eclipse integrated development environment. Therefore, it is necessary to install Eclipse and Java to use RTCBuilder and RTSystemEditor.

We prepared an installation package for UNIX and Windows here. We prepared packages for UNIX and Windows including RTSystemEditor and RTCBuilder, all containing (Eclipse 4.4.2 + Japaneseization + RTSystemEditor + GEF + EMF + XSD + RTCBuilder). It is very easy to install, so please use those who would like to try to move them.

Java Development Kit 7 (JDK) is required, please install in advance. Eclipse archive (package file in compressed state) has over 100 MB. After downloading, please unpack the archive to the directory you want to install. There is no installer in Eclipse in particular, you can just use the archive just expand it.

About Eclipse

Eclipse is an open-source Integrated Development Environment framework developed by the Eclipse Foundation for developing in Java and other languages. Eclipse is, at its core, a platform for plugins to execute in, combining a wide variety of plugins to create various development environments. Even the default Java development environment is implemented as a plugin, and development environments for other languages can be created and expanded using other plugins.

The characteristics of Eclipse include:

  • Easily extensible using plugins. Plugins can also cooperate.
  • Using the Rich Client Platform (RCP) structure, plugins can function in a standalone mode.
  • Because it is written in Java, it functions on many platforms. These characteristics are very useful for constructing a robot-oriented development environment. For this reason, it was selected as the platform for the RT Middleware tools.

And so on. Judging that these Eclipse features are useful for constructing an integrated development environment for robot, we chose Eclipse as a platform for tools of RT middleware.

To use RTCBuilder and RTSystemEditor you need to install Eclipse. Regarding the installation method of Eclipse,

Etc. will be helpful.

Installing the Java Runtime Environment (JRE)

Since Eclipse is a Java application, you need to install Oracle's Java execution environment ((JRE: Java Runtime Environment). Installing JRE is not necessary in an environment where JDK (Java development environment, however, 1.6 or higher) is already installed. (RTCBuilder requires JDK instead of JRE to generate Java code.)

After downloading please install according to the instructions of the installer.

JDK installation:
Java Development Kit 7

reference:cool! Simple way to apply Oracle's Java (JRE) to Eclipse in a UNIX environment

Installing Eclipse

Download an Eclipse archive suitable for your platform from the Eclipse Download Site and install it. The recommended version for RTSystemEditor is Eclipse v3.4.2 Reference:
  • ''FAQ:'' Method of starting Eclipse
  • Ubuntu 8.04, Ubuntu 9. 10. It is reported that Eclipse 3.4.2 for Linux does not work.
    • For Ubuntu 8.04, update xulrunniner as apt-get install xulrunner-1.9 .
    • For Ubuntu 9.10, please use the following method or use Eclipse3.3 or 3.5.

 $ su
 # vi /etc/apt/source.list
  This line is added. → deb jaunty main restricted
 # apt-get update
 # apt-get install xulrunner-1.9
 # dpkg -l |grep xulrunner-1.9
 ii  xulrunner-1.9                               XUL +  XPCOM application runner
 ii  xulrunner-1.9.1                      XUL + XPCOM application runner
 ii  xulrunner-1.9.1-gnome-support          Support for GNOME in xulrunner-1.9.1 applica
 1.9.1 and 1.9 live together.
 # exit
 $ ./eclipse
It has been reported that it works using xulrunner- Update to and starting Eclipse via the following shell script.
 ./eclipse -vmargs -Dorg.eclipse.swt.browser.XULRunnerPath=/usr/lib/xulrunner-

Installing plugins

RT System Editor uses the following Eclipse plugins.
  1. From the Eclipse menu, choose Help> Software Update.
  2. This software update and add-in window will be displayed, so select the Available Software tab.
  3. Select Genymede Update Site and select the plug-in.
  4. Click [Installation]
  5. The plugins will be downloaded and installed automatically.

Terminate Eclipse once after installation.

Installing RTCBuilder


RTCBuilder is a template generator tool for RT Components. It generates custom templates based on user-configured parameters. RTCBuilder operates on top of Eclipse and interacts seamlessly and intuitively with other Eclipse plugins. Although RTCBuilder can be used even if RTSystemEditor is not installed, if it is, RTCBuilder's menus will be integrated with those of RTSystemEditor. This document is written assuming RTSystemEditor is installed.

Functional Overview

Function Overview
RTC Profile Editor Edit the RTC specification based profile, data port definitions, service port definitions, configuration parameter definitions, and other profile extensions.
Build view Graphically display the RT Component being edited, including its data ports, service ports, service interfaces.
Repository view Display information on a selected RT Repository.

Operating Environment

The following must be installed for RTCBuilder to function.

Software Remarks
Java Development Kit 6 Note: Java1.5 (5.0) is not suitable.
Eclipse version 3.4.2 or above
Eclipse itself
Eclipse EMF version 2.2 or above (SDO, XSD included) Eclipse plugin required by RTC Builder
Note: be sure to use versions that match your Eclipse version.
Eclipse GEF version 3.2 or above (Draw2D included) Eclipse plugin required by RTC Builder
Note: be sure to use versions that match your Eclipse version.

If you will be generating components for C++ or Python, you will need the following as well:

Software Remarks
Eclipse CDT C++ development environment
Pydev for Eclipse Python development environment

Install RTCBuilder

Because RTCBuilder is an Eclipse plugin, it requires Eclipse to be installed. Eclipse is written in Java, so it in turn requires a Java environment to be set up before it can be installed (such as the JDK).

Installing and Starting RTCBuilder

Download the RTCBuilder plugin and copy the jar files into the Eclipse plugin directory. This is a directory called plugin below the'eclipse directory in the location you extracted the Eclipse archive to. Start Eclipse and select [Open Perspective] > [Other] from the Window menu. The perspective selection dialog will be displayed.


Select RTC Builder from the list to open its perspective.


Click the [Open New RTC Builder Editor] button in the toolbar, or select [Open New Builder Editor] from the File menu to begin editing a new component.

reference:''FAQ:'' How to start Eclipse

Installing RTSystemEditor


RTSystemEditor is one of the OpenRTM-aist development tools. It allows RT Components to be manipulated in real-time using a graphical interface. It is implemented as a plugin for the Eclipse IDE, allowing seamless operation from within Eclipse and integration with existing plugins.

Functional Overview

The functions offered by RTSystemEditor are given below.

Function Overview
Display and edit component configurations The configuration profiles of the selected component is displayed in the Configuration View, and can be edited there.
Change component behaviour Select components and change their behaviour (active state, etc).
Combine components Retrieve components from a repository or load them from the file system and combine them together into a system using the System Editor.
Save and open systems Save the contents of the System Editor and load it again at a later date.
Restore systems Use saved System Editor states to restore a system of connected RT Components.

Operating Environment

The following must be installed for RTSystemEditor to function.

Software Remarks
Java Development Kit 6 Note: Java1.5 (5.0) is not suitable.
Eclipse 3.4.2 Eclipse itself
Eclipse EMF 2.2.4 EMF+SDO Runtime and XSD Runtime Eclipse plugin required by RT System Editor
Eclipse GEF 3.2.2 Eclipse plugin required by RT System Editor

Installing RTSystemEditor

Because RTSystemEditor is an Eclipse plugin, it requires Eclipse to be installed. Eclipse is written in Java, so it in turn requires a Java environment to be set up before it can be installed (such as the JDK).


Installing RT System Editor

Start Eclipse and select Open Perspective->Other from the Window menu. The perspective selection dialog will be displayed.


Select RTSystemEditor from the list to open its perspective.


If RTSystemEditor is not available in the list of perspectives, check that EMF, GEF and XSD are all correctly installed, and that the RTSystemEditor plugin is in the correct directory.

Restart Eclipse

After confirming that RTSystemEditor starts, restart Eclipse using the same workspace. RTSystemEditor should be displayed as it was when you exited Eclipse.

reference:''FAQ:'' How to start Eclipse

Debugging RTSystemEditor, RTCBuilder

This page describes the debugging procedure of RTSystemEditor and RTCBuilder.

Obtain required software


RTSystemEditor, RTCBuilder will work as eclipse plugin. Please download eclipse from the following site. At that time please select Ultimate Full Edision for package. Standard Edition requires plug-in development environment to be installed manually.


Since you need JRE 1.8 or higher, please obtain and install the latest version of JDK installer from below.

RTSystemEditor, RTCBuilder source code

Please check out below from TortoiseSVN etc.


Please execute eclipse.exe.

JRE setting

Set up the JRE to use.

In the JRE path (eg C:\Program Files (x86)\Java\jdk1.8.0_131\jre), Select "Add" → "Standard VM" under "Window" → "Settings" → "Java" → "Installed JRE" and add a check






Setting compiler compliance level

Since the compiler compliance level may be set to 1.6 in the initial state, please set the compiler compliance level to 1.8 with "Window" → "Setting" → "Java" → "compiler".


Import RTSystemEditor, RTCBuilder project

RT System Editor, RTC Builder into eclipse of development environment. Select "File" → "Import" → "Plug-in Development" → "Plug-in and Fragment", then press "Next".



Please turn on "Directory" of "Import destination", set the directory where rtmtools was checked out, and proceed to the next.


Please select "Add all" and press the completion button.


IDL compilation

Compile the IDL file. In the package explorer, start by right clicking "buildForClient" of jp.go.aist.rtm.toolscommon project and choosing "Execute" → "Ant build".


Garbled characters in Ant build

Double-click "Execution" → "External Tools" → "Configure External Tool" → "Ant Build" and select "Common" tab → "Encode" to Other "MS932" please.



Modifying the classpath

Depending on the environment, the classpath may not be set correctly. In that case, since ClassNotFoundException exception occurs at debugging, please correct all plugin.xml that exists in rtmtools. Double click on plugin.xml in Package Explorer and add "." To "Classpath" from "Runtime" tab. (It can be added to "Bundle-ClassPath" of "MANIFEST.MF")


That's all there is to it.

Debug execution

Debugging starts with "Debug" → "Eclipse application" from the button of the upper bug mark.