After successful installation, test the operation with the attached sample. Samples are usually located at:
Check that OpenRTM-aist is built and installed correctly using the sample component set SimpleIO.
This is a sample set consisting of RT components ConsoleIn and ConsoleOut. ConsoleIn is a component that outputs numerical values input from the console from OutPort, and ConsoleOut is a component that displays numerical values input to InPort on the console. These are samples to show simple I/O (input/output) operations. It works by connecting ConsoleIn's OutPort to ConsoleOut's InPort and activating these two components.
The samples are under /usr/share/openrtm-1.2/components/python/SimpleIO, and the description is described assuming that the search path is set in the executable file of Python itself.
$ rtm-naming
$ python /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtm-naming/rtm-naming.py or $ python3 /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtm-naming/rtm-naming.py
Here, {Python2.7|python3} changes depending on the version of Python that was installed in the Linux environment. If Python 2.7 was installed with OpenRTM-aist-Python, it is "Python2.7".
(The default for Ubuntu 18.04 is Python 2.7. However the version of Python is now "End of Support", then it might be changed.)
The following screen will be displayed.
$ cd /usr/share/openrtm-1.2/components/python/SimpleIO
$ python ConsoleIn.py
$ python ConsoleOut.py
$ rtls -R localhost .: ConsoleIn0.rtc ConsoleOut0.rtc
$ rtcon /localhost/ConsoleIn0.rtc:out /localhost/ConsoleOut0.rtc:in
$ rtact /localhost/ConsoleIn0.rtc /localhost/ConsoleOut0.rtc
Then, the screen of the terminal that started Consolein.py and ConsoleOut.py will be displayed, and the terminal will change to the prompt “Please input number:” on the terminal that started ConsoleIn.py.
$ rtdeact /localhost/ConsoleIn0.rtc /localhost/ConsoleOut0.rtc
$ rtexit /localhost/ConsoleIn0.rtc $ rtexit /localhost/ConsoleOut0.rtc
This concludes the confirmation of the basic operation of the component using the command line.