• Installation of software required for development
  • Visual Studio
  • Python
  • CMake
  • Doxygen & Graphviz
  • JDK8
• Install OpenRTM-aist
  • Download installer
  • Install
  • Specify the version of Visual Studio

Installation of software required for development

RTC development requires installation of Python, CMake, Doxygen, and Visual Studio.

Visual Studio

It is necessary not only for developing the C ++ version, but also for building the installer when creating the Python version and Java version of the RTC. Install it by downloading from the link, or obtain and install Visual Studio 2015/2017/2019/2022 separately.

• Microsoft ''Download Visual Studio 2022''

• Installing Visual Studio Community 2022

Python

Python is used not only for developing the Python language version of RTC, but also for various tools of OpenRTM-aist, so it must be installed. Python supported by OpenRTM-aist is 3.7, 3.8, 3.9, 3.10, 3.11. We recommend that you install the latest version.

• Python Releases for Windows
  • python-3.11.1-amd64.exe (64bit版)

• The Python installation destination corresponds to the selection [Customize installation] at the time of installation.
• For the procedure to specify the installation destination in [Customize installation], see the explanation on the following page.
  • Let's start OpenRTM-aist in 10 minutes!・Installation of Python

CMake

CMake is required to automatically generate the files required for build (Visual Studio project file, Makefile on Linux, etc.) in various environments such as Windows and Linux.
Please install the latest version as much as possible.

• CMake(3.11以上推奨)
  • cmake-3.25.2-windows-x86_64.msi (64bit)
  • During the installation, you will be asked what to do with system PATH as [Install Options], it is recommended that you select Add CMake to the system PATH for all users.

Doxygen & Graphviz

Doxygen is a tool that automatically generates documents from comments such as source code.
Graphviz is a tool required to generate diagrams such as class diagrams when generating documents with Doxygen.
In OpenRTM-aist, various design information can be entered in RTCBuilder when designing RTC, and they are output as comments in the source code. By processing this with Doxygen, you can generate a beautiful RTC document.
Please install the latest version as much as possible.

• Doxygen
  • doxygen-1.9.6-setup.exe
  • If you are using Microsoft Edge and cannot download, please see the explanation for OpenRTM-aist.
    • Let's start OpenRTM-aist in 10 minutes!・Download OpenRTM-aist

• Graphviz
  • windows_10_cmake_Release_graphviz-install-7.1.0-win64.exe

During the installation, you will be asked what to do with the system PATH as the Install Options, but we recommend that you select Add Graphviz to the system PATH for all users. Download and execute the Windows version binary executable file from the web page.

After installation, run dot -v at the command prompt and check that the plugin information is displayed.

 >dot -v
 dot - graphviz version 7.1.0 (20230121.1956)
 libdir = "C:\Program Files\Graphviz\bin"
 Activated plugin library: gvplugin_dot_layout.dll
 Using layout: dot:dot_layout
 Activated plugin library: gvplugin_core.dll
 Using render: dot:core
 Using device: dot:dot:core
 The plugin configuration file:
        C:\Program Files\Graphviz\bin\config6
                was successfully loaded.
    render      :  cairo dot dot_json fig gdiplus json json0 map mp pic pov ps svg tk visio vml xdot xdot_json
    layout      :  circo dot fdp neato nop nop1 nop2 osage patchwork sfdp twopi
    textlayout  :  textlayout
    device      :  bmp canon cmap cmapx cmapx_np dot dot_json emf emfplus eps fig gif gv imap imap_np ismap jpe jpeg jpg json json0 metafile mp pdf pic plain plain-ext png pov ps ps2 svg tif tiff tk vdx vml xdot xdot1.2 xdot1.4 xdot_json
    loadimage   :  (lib) bmp eps gif jpe jpeg jpg png ps svg

JDK8

• Install JDK8

Install OpenRTM-aist

After installing the above software, install OpenRTM-aist.

Download installer

Download and execute "msi" file.

• Let's start OpenRTM-aist in 10 minutes!・Download OpenRTM-aist

This installer contains the following.

• Development environment for C ++
  • OpenCV4.4
  • Past versions of DLLs for C ++ (Required when running the old RTC)
• Development environment for Python
• Development environment for Java
• omniORB4.2.5
• OpenRTP (GUI tool, RTCBuilder，RTSystemEditor）
  • JRE8 environment (Required for OpenRTP）
• VCVerChanger (GUI tool）
• rtshell (CUI tool）

Install

• Let's start OpenRTM-aist in 10 minutes!・Installing OpenRTM-aist

• Let's start OpenRTM-aist in 10 minutes!・Run the sample component

• What the installer does

Specify the version of Visual Studio

The system environment variable "RTM_VC_VERSION'' is set according to the installed version of Visual Studio. If you want to change it after installation, you can set it using GUI tools. See the VCVerChanger page for how to use it.

※Even if you do not change the version of Visual Studio after installation, check the system environment variable settings once with VCVerChanger. If there are any unnecessary paths left, delete them.

• Run the sample component
• List of sample components
  • Included with C ++, Python, and Java
  • Included with Python
  • Included with Python, and Java
  • Included with Java
  • OpenCV C ++ version

Run the sample component

After successful installation, you can check the operation with the attached sample component. We have prepared a bat file, so you can start it by double-clicking it.

• Let's start OpenRTM-aist in 10 minutes!・Run the sample component
  
  
  
  
  Start menu folder

The installation destination of the sample component is as follows.

 C:\Program Files\OpenRTM-aist\2.0.x\Components\C++\Examples
 C:\Program Files\OpenRTM-aist\2.0.x\Components\Python
 C:\Program Files\OpenRTM-aist\2.0.x\Components\Java
 C:\Program Files\OpenRTM-aist\2.0.x\Components\C++\OpenCV

List of sample components

Below is a brief description of the included sample components and a link to a page that explains how to use them.

Included with C ++, Python, and Java

Included with Python

Included with Python, and Java

Included with Java

OpenCV C ++ version

If you want to modify OpenRTM-aist itself and use it on Windows, you can get the source code of OpenRTM-aist and build it. Since CMake is supported from 2.0 series, the procedure is different from 1.2 series.

• Required software and libraries
• Command procedure at build/installation
• Batch processing with script
  • cxx_src_build.bat
• Reference：Build script for msi generation

Required software and libraries

Following software is required.　For details, see Installation of OpenRTM-aist 2.0 series on Windows

• Visual Studio
• Python
• CMake
• Doxygen & Graphviz（If you also want to do a document build.）

• omniORB 4.2.5 (As of 2022/06）

The pre-built binary package provided by openrtm.org is available under the name omniORB-4.2.5-x64-vc14-pyXX.zip at the link below. Please replace it with the version of python to install XX, download the appropriate one, and extract it to a suitable location (C:\workspace\omniORB in the explanation below).

• Binary package provided by openrtm.org

For more information on building with other libraries, see RT System Development (Advanced)・Build process of OpenRTM-aist(C++) by using CMake

Command procedure at build/installation

Get the source code. Check out the master branch for the latest OpenRTM-aist 2.0 source, and v2.0.0 for the 2.0.0 release source.

 git clone https://github.com/OpenRTM/OpenRTM-aist
 cd OpenRTM-aist
 git checkout -b v200-src refs/tags/v2.0.0

• -DORB_ROOT : Downloaded and unzipped omniORB path
• -G :Visual Studio version（"Visual Studio 17 2022" "Visual Studio 16 2019" etc.）
• -DCMAKE_INSTALL_PREFIX : Installation path from source

 mkdir build
 cd build
 cmake -DORB_ROOT=C:/workspace/omniORB-4.2.5-x64-vc14-py310 -G "Visual Studio 17 2022" -DCMAKE_INSTALL_PREFIX=C:/workspace/openrtminstall ..

Then execute the following command. Finally, if you see the following, the build is successful.

 cmake --build . --verbose --config Release 
 The build was successful.
     0 Warnings
     0 Error

If the build is successful, complete the installation with the following command:

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

Batch processing with script

I will introduce a script (cxx_src_build.bat) that batch processes from download of omniORB to source build and installation. It is executed by placing it under the OpenRTM-aist directory that has been git cloned.

 cd OpenRTM-aist
 cxx_src_build.bat > 1.log

When executing the script, specify only the three items "Visual Studio version", "Python version", and "Installation destination" according to the environment.

 set CMAKE_GENERATOR="Visual Studio 16 2019"
 set PY_VERSION=39　・・・ Specify one of 37, 38, 39, 310
 set INSTALL_PREFIX=C:\localRTM-test

cxx_src_build.bat

 @echo off
 @rem
 @rem ---------- Fit to the environment.   -------
 set CMAKE_GENERATOR="Visual Studio 16 2019"
 set PY_VERSION=39
 set INSTALL_PREFIX=C:\localRTM-test
 @rem ---------- Fit to the environment.  -------
 set OMNI_VERSION=4.2.5
 set VC_VERSION=vc14
 if exist %INSTALL_PREFIX% rmdir /s/q %INSTALL_PREFIX%
 @rem
 @rem Convert "\" in the path to "/"
 set current_dir=%~dp0
 set RTM_ROOT=%current_dir:\=/%
 set INSTALL_PREFIX=%INSTALL_PREFIX:\=/%
 @rem
 @rem omniORB download
 set base_omni_url="https://openrtm.org/pub/omniORB/win32/omniORB-%OMNI_VERSION%/"
 set OMNIORB_DIR=omniORB-%OMNI_VERSION%-x64-%VC_VERSION%-py%PY_VERSION%
 set OMNIORB_ZIP=%OMNIORB_DIR%.zip
 set OMNIORB_URL=%base_omni_url%/%OMNIORB_ZIP%
 if not exist %OMNIORB_ZIP% (
   powershell wget -O %OMNIORB_ZIP% %OMNIORB_URL%
 )
 if exist %OMNIORB_DIR% rmdir /s/q %OMNIORB_DIR%
 powershell Expand-Archive .\%OMNIORB_ZIP% -DestinationPath .\ 
 set OMNIORB_ROOT=%RTM_ROOT%/%OMNIORB_DIR%
 @rem
 @rem set cmake parameter
 set CMAKE_OPT=-DORB_ROOT=%OMNIORB_ROOT% ^
   -DCMAKE_INSTALL_PREFIX=%INSTALL_PREFIX% ^
   -G %CMAKE_GENERATOR% ^
   -A x64 ..
 call :CMAKE_Release
 exit /b
 @rem
 :CMAKE_Release
 if exist build-release rmdir /s/q build-release
 mkdir build-release
 cd build-release
 cmake %CMAKE_OPT% 
 cmake --build . --verbose --config Release
 cmake --install .
 cd ..
 exit /b

Reference：Build script for msi generation

• Boost libraryライブラリ 1.78.0
• OpenSSL 3.0.1
• Fluent Bit v1.8.9 Build from source

OpenRTM-aist has both Release/Debug builds. As for the binary of omniORB, there is no problem using the binary built with vc14, but the binary for vc16 is prepared and used.

 @echo off
 @rem
 set CMAKE_GENERATOR="Visual Studio 16 2019"
 set VC_VERSION=vc16
 set SSL_VC_VERSION=vc14
 set PY_VERSION=39
 set INSTALL_PREFIX=C:\localRTM
 set OMNI_VERSION=4.2.5
 set SSL_VERSION=3.0.1
 set BOOST_PATH=C:\local\boost_1_78_0
 set FLB_ROOT=C:\localFLB
 @rem
 if exist %INSTALL_PREFIX% rmdir /s/q %INSTALL_PREFIX%
 @rem ------------
 @rem Convert "\" in the path to "/"
 set current_dir=%~dp0
 set RTM_ROOT=%current_dir:\=/%
 set BOOST_PATH=%BOOST_PATH:\=/%
 set INSTALL_PREFIX=%INSTALL_PREFIX:\=/%
 set FLB_ROOT=%FLB_ROOT:\=/%
 @rem ------------
 @rem omniORB download
 set base_omni_url="https://openrtm.org/pub/omniORB/win32/omniORB-%OMNI_VERSION%/"
 set OMNIORB_DIR=omniORB-%OMNI_VERSION%-x64-%VC_VERSION%-py%PY_VERSION%
 set OMNIORB_ZIP=%OMNIORB_DIR%.zip
 set OMNIORB_URL=%base_omni_url%/%OMNIORB_ZIP%
 if not exist %OMNIORB_ZIP% (
   powershell wget -O %OMNIORB_ZIP% %OMNIORB_URL%
 )
 if exist %OMNIORB_DIR% rmdir /s/q %OMNIORB_DIR%
 powershell Expand-Archive .\%OMNIORB_ZIP% -DestinationPath .\
 set OMNIORB_ROOT=%RTM_ROOT%/%OMNIORB_DIR%
 @rem ------------
 @rem OpenSSL download
 set base_ssl_url="https://openrtm.org/pub/OpenSSL/%SSL_VERSION%"
 set OPENSSL_ZIP=openssl-%SSL_VERSION%-win64-%SSL_VC_VERSION%.zip
 set OPENSSL_URL=%base_ssl_url%/%OPENSSL_ZIP%
 if not exist %OPENSSL_ZIP% (
   powershell wget -O %OPENSSL_ZIP% %OPENSSL_URL%
 )
 if exist OpenSSL rmdir /s/q OpenSSL
 powershell Expand-Archive .\%OPENSSL_ZIP% -DestinationPath .\
 set SSL_ROOT=%RTM_ROOT%OpenSSL/build
 @rem ------------
 @rem set cmake parameter
 set CMAKE_OPT=-DRTM_VC_VER=%VC_VERSION% ^
   -DORB_ROOT=%OMNIORB_ROOT% ^
   -DCORBA=omniORB ^
   -DSSL_ENABLE=ON ^
   -DOPENSSL_ROOT=%SSL_ROOT% ^
   -DCMAKE_INSTALL_PREFIX=%INSTALL_PREFIX% ^
   -DWINDOWS_MSM_BUILD=ON ^
   -DBOOST_ROOT=%BOOST_PATH% ^
   -DFLUENTBIT_ENABLE=ON ^
   -DFLUENTBIT_ROOT=%FLB_ROOT% ^
   -G %CMAKE_GENERATOR% ^
   -A x64 ..
 call :CMAKE_Debug
 call :CMAKE_Release
 exit /b
 @rem ------------
 :CMAKE_Release
 if exist build-release rmdir /s/q build-release
 mkdir build-release
 cd build-release
 cmake %CMAKE_OPT% 
 cmake --build . --verbose --config Release
 cmake --install .
 cd ..
 exit /b
 @rem ------------
 :CMAKE_Debug
 if exist build-debug rmdir /s/q build-debug
 mkdir build-debug
 cd build-debug
 cmake %CMAKE_OPT%
 cmake --build . --verbose --config Debug
 cmake --install . --config Debug
 cd ..
 exit /b

What the installer does

The installer copies the files and configures the system according to the following work contents. It is described below for reference when confirming that the installation and uninstallation are performed correctly.

• Copy various files under the installation directory (C:\Program Files)
• Create an OpenRTM-aist folder under the start menu and set various shortcuts.
• Environment variable settings (when OpenRTM-aist 2.0.0 version is installed with default settings)

   RTM_BASE=C:\Program Files\OpenRTM-aist\
   RTM_ROOT=C:\Program Files\OpenRTM-aist\2.0.0\
   RTM_VC_VERSION=vc16  (※If you selected Visual Studio versions 2015, 2017 during installation, vc14)
   RTM_JAVA_ROOT=C:\Program Files\OpenRTM-aist\2.0.0\
   RTM_IDL_DIR=C:\Program Files\OpenRTM-aist\2.0.0\rtm\idl\
   OMNI_ROOT=C:\Program Files\OpenRTM-aist\2.0.0\omniORB\4.2.5_vc16\
   OpenCV_DIR=C:\Program Files\OpenRTM-aist\2.0.0\OpenCV4.4\
   OpenRTM_DIR=C:\Program Files\OpenRTM-aist\2.0.0\cmake\

• Additional settings to PATH (when OpenRTM-aist 2.0.0 version is installed with default settings)

   C:\Program Files\OpenRTM-aist\2.0.0\bin\vc16\
   C:\Program Files\OpenRTM-aist\2.0.0\omniORB\4.2.5_vc16\bin\x86_win32\ 
   C:\Program Files\OpenRTM-aist\2.0.0\OpenCV4.4\x64\vc16\bin\

Files to be installed

The files are installed with the following structure.

 <install_dir>
   + OpenRTM-aist
      + 1.x.x  : Older version runtime
      + 2.0.x
         + bin: dll、lib Various commands
         + cmake: OpenRTMConfig.cmake
         + coil: coil header files
         + Components
            + C++
               + Examples: C++ sample component
               + OpenCV: OpenCV C ++ sample component
            + Java: Java sample component
            + Python: Python sample component
         + ext: Extension module file
         + hrtm: HRTM Wrapper Library
         + jar: jar files
         + jre: AdoptOpenJDK JRE
         + omniORB 4.2.5
         + OpenCV 4.4
         + rtm: OpenRTM-aist header files
            + idl: OpenRTM-aistIDL files
         + util
            + OpenRTP: RTCBuilder and RTSystemEditor tools
            + RTSystemEditor: 
            + VCVerChanger: Tool to specify the version of Visual Studio you are using