The Python version of OpenRTM-aist provides a deb package that is available for Ubuntu and Debian GNU Linux. The supported distribution versions can be found on the download page. Please note that supported versions and support for Ubuntu / Debian GNU Linux are subject to change without notice.
Install OpenRTM-aist by using script pkg_install_ubuntu.sh or pkg_install_debian. Download the script from the specified URL and execute it with root privileges. This script installs necessary packages sequentially using apt-get.
By specifying the option, it is possible to install the package depend on the purpose.
For details on downloading the bulk installation script, detailed installation methods, and the options that can be specified, see Bulk Installation Script.
※If the latest version is "1.2.2", you can install "1.2.1" by option and downgrade from "1.2.2" to "1.2.1".
After downloading the bulk installation script, change to the downloaded directory,
For Ubuntu
$ sudo sh pkg_install_ubuntu.sh -l python --yes
For Debian, after getting root privileges using su command.
# sh pkg_install_debian.sh -l python --yes.
For development in a general Ubuntu/Debian environment, use RTCBuilder or RTSystemEditor. In that case, OpenRTP is required. You can install OpenRTP using the bulk installation script.
For Ubuntu, at the directory where pkg_install_ubuntu.sh is located
$ sudo sh pkg_install_ubuntu.sh -l openrtp --yes
In the case of Debian, after obtaining root privilage by su
# sh pkg_install_debian.sh -l openrtp --yes
If you want to control RTC with CUI, such as when the control computer is a small system, a tool called rtshell is provided as a tool that can provide the functions equivalent to RTSystemEditor of OpenRTP from CUI. Use the bulk installation script to install rtshell in the directory where the bulk installation script file is located.
For Ubuntu,
$ sudo sh pkg_install_ubuntu.sh -l rtshell --yes $ sudo rtshell_post_install
For Debian, get root priviledge by su
# sh pkg_install_debian.sh -l rtshell --yes # rtshell_post_install
$ dpkg -l 'openrt*' Desired=Unknown/Install/Remove/Purge/Hold | Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend |/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad) ||/ Name Version Architecture Description +++-=====================-===============-===============-================================================ ii openrtm-aist:amd64 1.2.1-0 amd64 OpenRTM-aist, RT-Middleware distributed by AIST ii openrtm-aist-dev:amd6 1.2.1-0 amd64 OpenRTM-aist headers for development ii openrtm-aist-idl:amd6 1.2.1-0 amd64 OpenRTM-aist idls for development ii openrtm-aist-python 1.2.1-0 amd64 OpenRTM-aist, RT-Middleware distributed by AIST ii openrtm-aist-python-d 1.2.1-0 all Documentation for openrtm-aist-python ii openrtm-aist-python-e 1.2.1-0 amd64 OpenRTM-aist-Python examples ii openrtp:amd64 1.2.1-0 amd64 OpenRTP, Open RT Platform distributed by AIST
You can check the installation at the following. (An example of 1.2.1.)
$ dpkg -l 'openrt*' Desired=Unknown/Install/Remove/Purge/Hold | Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend |/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad) ||/ Name Version Architecture Description +++-=====================-===============-===============-================================================ ii openrtm-aist-python 1.2.1-0 amd64 OpenRTM-aist, RT-Middleware distributed by AIST ii openrtm-aist-python-d 1.2.1-0 all Documentation for openrtm-aist-python ii openrtm-aist-python-e 1.2.1-0 amd64 OpenRTM-aist-Python examples
To check the Installation of rtshell
$ pip show rtshell-aist Name: rtshell-aist Version: 4.2.2 Summary: Shell commands for managing RT Components and RT Systems. Home-page: http://github.com/gbiggs/rtshell Author: Geoffrey Biggs and contributors Author-email: geoffrey.biggs@aist.go.jp License: LGPL3 Location: /usr/local/lib/python2.7/dist-packages Requires: rtctree-aist, rtsprofile-aist
The contents of each package are as follows.
openrtm-aist contains runtime libraries and commands.
/usr/bin/rtcd /usr/bin/rtcprof /usr/bin/rtm-config /usr/bin/rtm-naming
/usr/share/doc/openrtm-aist/changelog.gz /usr/share/doc/openrtm-aist/README.Debian /usr/share/doc/openrtm-aist/README /usr/share/doc/openrtm-aist/README.jp /usr/share/doc/openrtm-aist/copyright /usr/share/doc/openrtm-aist/changelog.Debian.gz
/usr/etc/rtc.conf.sample
/usr/lib/i386-linux-gnu/libRTC-X.X.X.so /usr/lib/i386-linux-gnu/libRTC.a /usr/lib/i386-linux-gnu/libRTC.la /usr/lib/i386-linux-gnu/libcoil-X.X.X.so /usr/lib/i386-linux-gnu/libcoil.a /usr/lib/i386-linux-gnu/librtmCamera.a /usr/lib/i386-linux-gnu/librtmCamera.la /usr/lib/i386-linux-gnu/librtmCamera.so.X.X.X /usr/lib/i386-linux-gnu/librtmManipulator.a /usr/lib/i386-linux-gnu/librtmManipulator.la /usr/lib/i386-linux-gnu/librtmManipulator.so.X.X.X /usr/lib/i386-linux-gnu/openrtm-1.2/ec/FileNameservice.la /usr/lib/i386-linux-gnu/openrtm-1.2/ec/FileNameservice.so.X.X.X /usr/lib/i386-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.a /usr/lib/i386-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.la /usr/lib/i386-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.so.X.X.X /usr/lib/i386-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.a /usr/lib/i386-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.la /usr/lib/i386-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.so.X.X.X /usr/lib/i386-linux-gnu/openrtm-1.2/ssl/SSLTransport.la /usr/lib/i386-linux-gnu/openrtm-1.2/ssl/SSLTransport.so.X.X.X /usr/lib/i386-linux-gnu/pigconfig/openrtm-aist.pc
/usr/lib/x86_64-linux-gnu/libRTC-X.X.X.so /usr/lib/x86_64-linux-gnu/libRTC.a /usr/lib/x86_64-linux-gnu/libRTC.la /usr/lib/x86_64-linux-gnu/libcoil-X.X.X.so /usr/lib/x86_64-linux-gnu/libcoil.a /usr/lib/x86_64-linux-gnu/librtmCamera.a /usr/lib/x86_64-linux-gnu/librtmCamera.la /usr/lib/x86_64-linux-gnu/librtmCamera.so.X.X.X /usr/lib/x86_64-linux-gnu/librtmManipulator.a /usr/lib/x86_64-linux-gnu/librtmManipulator.la /usr/lib/x86_64-linux-gnu/librtmManipulator.so.X.X.X /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.la /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.so.X.X.X /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.a /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.la /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.so.X.X.X /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.a /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.la /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.so.X.X.X /usr/lib/x86_64-linux-gnu/openrtm-1.2/ssl/SSLTransport.la /usr/lib/x86_64-linux-gnu/openrtm-1.2/ssl/SSLTransport.so.X.X.X /usr/lib/x86_64-linux-gnu/pigconfig/openrtm-aist.pc
openrtm-aist-dev package includes commands and header files which are needed for software development.
/usr/bin/coil-config /usr/bin/rtc-template /usr/bin/rtm-skelwrapper
/usr/share/doc/openrtm-aist-dev/changelog.Debian.gz /usr/share/doc/openrtm-aist-dev/changelog.gz /usr/share/doc/openrtm-aist-dev/copyright
/usr/include/coil-1.2/coil/Affinity.h /usr/include/coil-1.2/coil/Allocator.h ... /usr/include/coil-1.2/coil/stringutil.h /usr/include/openrtm-1.2/rtm/BufferBase.h /usr/include/openrtm-1.2/rtm/BufferStatus.h ... /usr/include/openrtm-1.2/rtm/config_rtc.h /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.hh /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.idl ... /usr/include/openrtm-1.2/rtm/ext/ManipulatorCommonInterface_MiddleStub.h /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/ArtExecutionContext.h /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/rtc.conf.sample /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.h /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.idl ... /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredECStub.h /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.hh /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.idl /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECDynSK.cc /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECSK.cc /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/RTPreemptEC.h /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/rtc.conf.sample /usr/include/openrtm-1.2/rtm/ext/local_service/nameservice_file/FileNameservice.h /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/FluentBit.h /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/fluentbit.conf /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.hh /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.idl ... /usr/include/openrtm-1.2/rtm/ext/sdo/logger/LoggerStub.h /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserver.idl /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverConsumer.h .... /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverStub.h /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.hh /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.idl /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverDynSK.cc /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverSK.cc /usr/include/openrtm-1.2/rtm/idl/BasicDataType.hh /usr/include/openrtm-1.2/rtm/idl/BasicDataType.idl ... /usr/include/openrtm-1.2/rtm/idl/device_interfaces/Ranger.idl /usr/include/openrtm-1.2/rtm/version.h /usr/include/openrtm-1.2/rtm/version.txt
/usr/lib/i386-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake /usr/lib/i386-linux-gnu/openrtm-1.2/py_helper/README_gen.py /usr/lib/i386-linux-gnu/openrtm-1.2/py_helpver/cxx_gen.py ... /usr/lib/i386-linux-gnu/openrtm-1.2/py_helpver/yat.py /usr/lib/i386-linux-gnu/pkgconfig/libcoil.pc
/usr/lib/x86_64-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helper/README_gen.py /usr/lib/x86-64-linux-gnu/openrtm-1.2/py_helpver/cxx_gen.py ... /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helpver/yat.py /usr/lib/x86_64-linux-gnu/pkgconfig/libcoil.pc
The main Python version has been changed from 2 to 3 from OpenRTM-aist 1.2.2.
/usr/bin/rtcd_python3 /usr/bin/rtcprof_python3
usr/lib/python3/dist-packages/OpenRTM-aist/*
/usr/lib/python3/dist-packages/OpenRTM_aist.ph
/usr/lib/python3/dist-packages/OpenRTM_aist/utils/__init__.py /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtc-template/* /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtcd/* /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtcprof/* /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtm-naming/*
/usr/share/openrtm-1.2/components/python3/__init__.py /usr/share/openrtm-1.2/components/python3/rtcd.conf /usr/share/openrtm-1.2/components/python3/components.conf /usr/share/openrtm-1.2/components/python3/AutoControl/* /usr/share/openrtm-1.2/components/python3/AutoTest/* /usr/share/openrtm-1.2/components/python3/Composite/* /usr/share/openrtm-1.2/components/python3/ConfigSample/* /usr/share/openrtm-1.2/components/python3/ExtTrigger/* /usr/share/openrtm-1.2/components/python3/MobileRobotCanvas/* /usr/share/openrtm-1.2/components/python3/SeqIO/* /usr/share/openrtm-1.2/components/python3/SimpleIO/* /usr/share/openrtm-1.2/components/python3/SimpleService/* /usr/share/openrtm-1.2/components/python3/Slider_and_Motor/* /usr/share/openrtm-1.2/components/python3/Templates/* /usr/share/openrtm-1.2/components/python3/Throughput/* /usr/share/openrtm-1.2/components/python3/TkJoyStick/ /usr/share/openrtm-1.2/components/python3/TkLRFViewer/*
/usr/share/openrtm-1.2/doc/python3/ClassReference-en/html/_async_8py.html /usr/share/openrtm-1.2/doc/python3/ClassReference-en/html/_buffer_base_8py.html ... /usr/share/openrtm-1.2/doc/python3/ClassReference-en/html/uuid_8py.html
/usr/share/openrtm-1.2/doc/python3/ClassReference-jp/html/_async_8py.html /usr/share/openrtm-1.2/doc/python3/ClassReference-jp/html/_buffer_base_8py.html ... /usr/share/openrtm-1.2/doc/python3/ClassReference-jp/html/uuid_8py.html
In openrtp installation, since so many files are installed, the listing is not made. Depend on your needs, use the following command.
$ dpkg -L openrtp
/usr/local/bin/rtact /usr/local/bin/rtcat /usr/local/bin/rtcheck /usr/local/bin/rtcomp /usr/local/bin/rtcon /usr/local/bin/rtconf /usr/local/bin/rtcryo /usr/local/bin/rtdeact /usr/local/bin/rtdel /usr/local/bin/rtdis /usr/local/bin/rtdoc /usr/local/bin/rtexit /usr/local/bin/rtfind /usr/local/bin/rtfsm /usr/local/bin/rtinject /usr/local/bin/rtlog /usr/local/bin/rtls /usr/local/bin/rtmgr /usr/local/bin/rtprint /usr/local/bin/rtpwd /usr/local/bin/rtreset /usr/local/bin/rtresurrect /usr/local/bin/rtshell_post_install /usr/local/bin/rtstart /usr/local/bin/rtstodot /usr/local/bin/rtstop /usr/local/bin/rtteardown /usr/local/bin/rtvlog /usr/local/bin/rtwatch
/usr/local/lib/python3.8/dist-packages/rtctree/* /usr/local/lib/python3.8/dist-packages/rtshell/* /usr/local/lib/python3.8/dist-packages/rtsprofile/*
/usr/local/lib/python3.8/dist-packages/rtctree_aist-4.2.0.egg-info/* /usr/local/lib/python3.8/dist-packages/rtshell_aist-4.2.2.dist-info/* /usr/local/lib/python3.8/dist-packages/rtsprofile_aist-4.1.2.dist-info/*