Installing to Linux

Install

ubuntu_logo2.png

OpenRTM-aist is provided with a deb package that can be used on Ubuntu and Debian GNU Linux.

2.0 is currently compatible with Ubuntu 18.04, 20.04 (amd64, arm64 respectively). Please note that the supported version and support for Ubuntu/Debian GNU Linux are subject to change without notice.

Changes in 2.0 series

C ++ and OpenRTP can coexist in 1.2 series and 2.0 series. With this support, the following changes have been made regarding installation.

  • Changed the name of the 2.0 series deb package
  • Python and Java cannot coexist in 1.2 series and 2.0 series
    • Use the bulk install script to automatically uninstall different installed versions
  • Separated 1.2 series and 2.0 series batch installation scripts
    • 1.2 series installation : pkg_install_ubuntu.sh
    • 2.0 series installation : openrtm2_install_ubuntu.sh

Installation script (both 1.2 series and 2.0 series) supports batch processing from download to installation.

Bulk installation script

To install 2.0 series, paste the following into the shell prompt and execute it.　C ++ version, Python version, Java version, OpenRTP (amd64 only), rtshell, JDK8 will be installed.　Scripts are not saved locally.
※By executing the script, even if multiple versions of Java are installed, it is switched to using Java8.

 $ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/openrtm2_install_ubuntu.sh)

This will install the following packages:

 $ dpkg -l | grep openrt
 ii  openrtm2:amd64                 2.0.0-0     amd64     OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-dev:amd64             2.0.0-0     amd64     OpenRTM-aist headers for development
 ii  openrtm2-doc                   2.0.0-0     all       Documentation for openrtm2
 ii  openrtm2-example:amd64         2.0.0-0     amd64     OpenRTM-aist examples
 ii  openrtm2-idl:amd64             2.0.0-0     amd64     OpenRTM-aist idls for development
 ii  openrtm2-java:amd64            2.0.0-0     amd64     OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-java-doc              2.0.0-0     all       Documentation for openrtm2-java
 ii  openrtm2-java-example:amd64    2.0.0-0     amd64     OpenRTM-aist-Java examples
 ii  openrtm2-python3               2.0.0-0     amd64     OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-python3-doc           2.0.0-0     all       Documentation for openrtm2-python3
 ii  openrtm2-python3-example       2.0.0-0     amd64     OpenRTM-aist-Python examples
 ii  openrtp2:amd64                 2.0.0-0     amd64     OpenRTP, Open RT Platform distributed by AIST

By specifying the option, it is possible to install the package according to the purpose. help can be found below.

 $ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/openrtm2_install_ubuntu.sh) --help

For details on the installed packages, see What the installer does

Installing packages for ROS

In 2.0 series, you can install the package for ROS communication function.
This section describes how to install the package in an environment where both ROS and ROS2 are installed.

As mentioned in help, the ROS package installation options are supported below.
[-e ros|ros2|all] [--ros|--ros2]

If you have already executed the installation script without any options and want to install additional packages for ROS and ROS2, you can use "-l c ++ -e all".
In Ubuntu 22.04 or later environments where only ROS2 is supported, -e all will install only packages for ROS2.

 $ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/openrtm2_install_ubuntu.sh) -l c++ -e all

If you want to install all the packages for ROS and ROS2 from the beginning, you can do it with "-l all -e all".

 $ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/openrtm2_install_ubuntu.sh) -l all -e all

Check the installed packages.

 $ dpkg -l | grep openrt
 ii  openrtm2:amd64               2.0.0-0   amd64        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-dev:amd64           2.0.0-0   amd64        OpenRTM-aist headers for development
 ii  openrtm2-doc                 2.0.0-0   all          Documentation for openrtm2
 ii  openrtm2-example:amd64       2.0.0-0   amd64        OpenRTM-aist examples
 ii  openrtm2-idl:amd64           2.0.0-0   amd64        OpenRTM-aist idls for development
 ii  openrtm2-java:amd64          2.0.0-0   amd64        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-java-doc            2.0.0-0   all          Documentation for openrtm2-java
 ii  openrtm2-java-example:amd64  2.0.0-0   amd64        OpenRTM-aist-Java examples
 ii  openrtm2-python3             2.0.0-0   amd64        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-python3-doc         2.0.0-0   all          Documentation for openrtm2-python3
 ii  openrtm2-python3-example     2.0.0-0   amd64        OpenRTM-aist-Python examples
 ii  openrtm2-ros-tp:amd64        2.0.0-0   amd64        OpenRTM-aist extension ROS package
 ii  openrtm2-ros2-tp:amd64       2.0.0-0   amd64        OpenRTM-aist extension ROS2 package
 ii  openrtp2:amd64               2.0.0-0   amd64        OpenRTP, Open RT Platform distributed by AIST

2.0 series installation in 1.2 series installation environment

1.2 series installation script can also be executed by specifying the URL. Install all packages with no options for the script.

 $ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/pkg_install_ubuntu.sh)

Check the installed packages.

 $ dpkg -l | grep openrt
 ii  openrtm-aist:amd64                  1.2.2-0
 ii  openrtm-aist-dev:amd64              1.2.2-0
 ii  openrtm-aist-doc                    1.2.2-0
 ii  openrtm-aist-example:amd64          1.2.2-0
 ii  openrtm-aist-idl:amd64              1.2.2-0
 ii  openrtm-aist-java:amd64             1.2.2-0
 ii  openrtm-aist-java-doc               1.2.2-0
 ii  openrtm-aist-java-example:amd64     1.2.2-0
 ii  openrtm-aist-python3                1.2.2-0
 ii  openrtm-aist-python3-doc            1.2.2-0
 ii  openrtm-aist-python3-example        1.2.2-0
 ii  openrtp:amd64                       1.2.2-4

If you install 2.0 series continuously, c ++ and openrtp will coexist with 1.2 series and 2.0 series, but java and python will be in the state where only 2.0 series is installed.

 $ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/openrtm2_install_ubuntu.sh)

While the script is running, you will be asked "Do you want to continue? [Y / n]" about uninstalling the 1.2 series java and python packages, so press the Enter key.
Check the installed packages.

 $ dpkg -l | grep openrt
 ii  openrtm-aist:amd64                    1.2.2-0
 ii  openrtm-aist-dev:amd64                1.2.2-0
 ii  openrtm-aist-doc                      1.2.2-0
 ii  openrtm-aist-example:amd64            1.2.2-0
 ii  openrtm-aist-idl:amd64                1.2.2-0
 ii  openrtm2:amd64                        2.0.0-0
 ii  openrtm2-dev:amd64                    2.0.0-0
 ii  openrtm2-doc                          2.0.0-0
 ii  openrtm2-example:amd64                2.0.0-0
 ii  openrtm2-idl:amd64                    2.0.0-0
 ii  openrtm2-java:amd64                   2.0.0-0
 ii  openrtm2-java-doc                     2.0.0-0
 ii  openrtm2-java-example:amd64           2.0.0-0
 ii  openrtm2-python3                      2.0.0-0
 ii  openrtm2-python3-doc                  2.0.0-0
 ii  openrtm2-python3-example              2.0.0-0
 ii  openrtp:amd64                         1.2.2-4
 ii  openrtp2:amd64                        2.0.0-0

Along with this, rtshell will also be reinstalled.

 $ pip3 list | grep aist
 OpenRTM-aist-Python    2.0.0
 rtctree-aist           4.2.3
 rtshell-aist           4.2.9
 rtsprofile-aist        4.1.5

1.2 series installation in 2.0 series installation environment

1.2 series and 2.0 series coexist for c ++ and openrtp, but only 1.2 series is installed for java and python.

 $ dpkg -l | grep openrt
 ii  openrtm-aist:amd64                 1.2.2-0
 ii  openrtm-aist-dev:amd64             1.2.2-0
 ii  openrtm-aist-doc                   1.2.2-0
 ii  openrtm-aist-example:amd64         1.2.2-0
 ii  openrtm-aist-idl:amd64             1.2.2-0
 ii  openrtm-aist-java:amd64            1.2.2-0
 ii  openrtm-aist-java-doc              1.2.2-0
 ii  openrtm-aist-java-example:amd64    1.2.2-0
 ii  openrtm-aist-python3               1.2.2-0
 ii  openrtm-aist-python3-doc           1.2.2-0
 ii  openrtm-aist-python3-example       1.2.2-0
 ii  openrtm2:amd64                     2.0.0-0
 ii  openrtm2-dev:amd64                 2.0.0-0
 ii  openrtm2-doc                       2.0.0-0
 ii  openrtm2-example:amd64             2.0.0-0
 ii  openrtm2-idl:amd64                 2.0.0-0
 ii  openrtp:amd64                      1.2.2-4
 ii  openrtp2:amd64                     2.0.0-0

rtshell will also be reinstalled for OpenRTM-aist-Python1.2.2.

 $ pip3 list | grep aist
 OpenRTM-aist-Python    1.2.2
 rtctree-aist           4.2.3
 rtshell-aist           4.2.9
 rtsprofile-aist        4.1.5

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Operation Check

Run the sample component

After successful installation, you can check the operation with the attached sample component. The installation destination of the sample component is as follows.

 /usr/share/openrtm-2.0/components/c++/examples
 /usr/share/openrtm-2.0/components/python3/
 /usr/share/openrtm-2.0/components/java

Start OpenRTP, a tool for operating the RTC and building the RT system.

  • OpenRTM-aist 2.0 series is started by the openrtp2 command.

 $ openrtp2

In OpenRTM-aist 1.2 series, it is started by the openrtp command. Although the command name is different, the startup procedure and usage are the same as 1.2 series, so please see the following page for details.

※OpenRTP can coexist with 1.2 series and 2.0 series. Therefore, it is possible to run both openrtp and openrtp2.

The attached sample components are listed on the following pages for the Windows version. There is no difference between the Windows version and the Linux version in terms of component operation. If you want to know a little more about the procedure for executing the sample component in the Linux environment, see the 1.2 series explanation page below. If you read the component path, the execution procedure is the same for 2.0 series.

Installation of OpenCV sample components

OpenCV's C ++ sample components do not provide a deb package for installation. We provide a script to generate a deb package from the source, so please build and install it.

Installation example of OpenCV4.5.4

This is an example of building and installing the OpenCV main unit of version 4.5.4 and the extension module group (opencv_contrib) together.

  • First, comment in the following deb-src line in /etc/apt/sources.list.

 $ sudo vi /etc/apt/sources.list
      :
 deb-src http://jp.archive.ubuntu.com/ubuntu/ *** universe
    or
 deb-src http://us.archive.ubuntu.com/ubuntu/ *** universe

  • The installation of OpenCV is completed by executing the following command.

 sudo apt build-dep opencv
 wget https://github.com/opencv/opencv/archive/refs/tags/4.5.4.tar.gz -O opencv-4.5.4.tar.gz
 tar xvzf opencv-4.5.4.tar.gz
 wget https://github.com/opencv/opencv_contrib/archive/refs/tags/4.5.4.tar.gz -O opencv_contrib-4.5.4.tar.gz
 tar xvzf opencv_contrib-4.5.4.tar.gz
 cd opencv-4.5.4
 mkdir build
 cd build
 cmake -DOPENCV_EXTRA_MODULES_PATH=../../opencv_contrib-4.5.4/modules -DBUILD_opencv_java=OFF ..
 make -j$(nproc)
 sudo make install
 sudo ldconfig

OpenCV sample component build procedure

Get the source ImageProcessing, build it, and generate a deb package.

 git clone https://github.com/OpenRTM/ImageProcessing
 cd ImageProcessing/opencv
 mkdir build
 cd build
 cmake ..
 ./build_linux_package.sh

This will generate imageprocessing_2.x.x_amd64.deb and install it.

 sudo dpkg -i imageprocessing_2.x.x_amd64.deb
 ls /usr/share/openrtm-2.0/components/c++/opencv-rtcs/
 Affine                       CameraViewer     Edge         Histogram         ImageSubtraction  Perspective        Scale                 Template
 BackGroundSubtractionSimple  Chromakey        Findcontour  Hough             ObjectTracking    RockPaperScissors  Sepia                 Translate
 Binarization                 DilationErosion  Flip         ImageCalibration  OpenCVCamera      Rotate             SubtractCaptureImage  rtc.conf

An executable file (*** Comp) is installed under each sample directory, so please try it.

Precautions when CMake in an environment where 1.2 series and 2.0 series coexist

The C ++ sample components have been regenerated so that they can be built mostly with CMake.
Let's take ConsoleIn as an example.

In the coexistence environment of 1.2 series and 2.0 series, OpenRTMConfig.cmake is installed in the following two places. For this reason, the OpenRTMConfig.cmake found earlier is used.

 /usr/lib/x86_64-linux-gnu/openrtm-2.0/cmake/OpenRTMConfig.cmake
 /usr/lib/x86_64-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake

In this environment, try running ConsoleIn cmake.

 git clone https://github.com/OpenRTM/OpenRTM-aist
 cd OpenRTM-aist/examples/ConsoleIn/
 mkdir build
 cd build
 cmake ..
      :
 -- OpenRTMConfig.cmake 2.0.0 found.

In 2.0 series OpenRTMConfig.cmake, the version number is output. The version number is not output in 1.2 series.
If you want to build with 1.2 series, specify OpenRTM_DIR as follows in the cmake option.

 cmake -DOpenRTM_DIR=/usr/lib/x86_64-linux-gnu/openrtm-1.2/cmake ..
    :
 -- OpenRTMConfig.cmake found.

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Build from the source code

If you want to change the source of OpenRTM-aist itself and use it, you can get the source code of OpenRTM-aist and build it.

Build with Docker

I will introduce the procedure to build in the environment where only the minimum library required for OpenRTM-aist source build is installed using Dockerfile.
I use the docker build command to generate a Docker image, but it is recommended because it can be built in a clean environment every time.

If you are using Docker for the first time, please install it as follows. If you have an Ubuntu desktop environment, the docker.io package is probably provided.

 sudo apt install docker.io

  • Reference：Installation if the docker.io package is not provided
    • Manually get the GPG key of Docker, write the repository information, and install docker-ce.
    • When I built aarch64 environment with ubuntu-20.04-server-cloudimg-arm64.img on QEMU, I installed it by the following procedure. 
       sudo apt install apt-transport-https ca-certificates curl software-properties-common
 curl -fsSL https://download.docker.com/linux/ubuntu/gpg | sudo apt-key add -
 sudo add-apt-repository "deb [arch=arm64] https://download.docker.com/linux/ubuntu $(lsb_release -cs) stable" 
 sudo apt update
 sudo apt install docker-ce

Build C ++ source

The OpenRTM-aist 2.0 series source includes Dockerfile for Ubuntu18.04, 20.04 and 22.04.

 OpenRTM-aist/scripts/ubuntu_1804/Dockerfile
 OpenRTM-aist/scripts/ubuntu_2004/Dockerfile
 OpenRTM-aist/scripts/ubuntu_2204/Dockerfile

The build procedure is as follows.　This is a build example for Ubuntu 20.04.　
Here, the latest OpenRTM-aist source is obtained from GitHub, but you can do the same procedure for building the modified source.

 git clone https://github.com/OpenRTM/OpenRTM-aist
 sudo docker build -t test -f OpenRTM-aist/scripts/ubuntu_2004/Dockerfile .

If the build finishes without error, you can see that the Docker image named test specified by the -t option has been generated.

 sudo docker images
 REPOSITORY       TAG           IMAGE ID          CREATED           SIZE
 test             latest        0bc00f471b64      27 seconds ago    1.52GB

If you modify the source and repeat until the build passes, many images <none> will be generated.　You can delete by specifying IMAGE ID with docker rmi, but if you want to delete all at once, it is convenient to execute the following command. 

 sudo docker rmi $(sudo docker images -f dangling=true -q)

About Docker image "openrtm/develop-rtm"

The first line of the Dockerfile used in the source build looks like this for Ubuntu 18.04, 20.04 and 22.04 respectively, and uses the image with this name uploaded to the Docker hub.

 FROM openrtm/devel-rtm:ubuntu18.04
 FROM openrtm/devel-rtm:ubuntu20.04
 FROM openrtm/devel-rtm:ubuntu22.04

These images are generated from the Docierfile.devel-rtm below. fluent-bit, ROS and ROS2 are installed.
  • For Ubuntu 18.04：dashing、melodic
  • For Ubuntu 20.04：foxy、noetic
  • For Ubuntu 22.04：humble

 OpenRTM-aist/scripts/ubuntu_1804/Dockerfile.devel-rtm
 OpenRTM-aist/scripts/ubuntu_2004/Dockerfile.devel-rtm
 OpenRTM-aist/scripts/ubuntu_2204/Dockerfile.devel-rtm

Script that batch processes up to deb package creation with Docker

The script introduced here is used when creating the deb package for the release of OpenRTM-aist.
If you want to modify and install the OpenRTM-aist source, you can easily try it with the deb package.

This script performs from source build to deb package generation with Docker, and performs the process of copying the deb package that is the deliverable from the Docker container to the host side at once.

The procedure for creating a deb package for Ubuntu 20.04 is as follows.

 git clone https://github.com/n-kawauchi/RTM-src-pkgs-docker-build
 cd RTM-src-pkgs-docker-build/ubuntu_2004/
 sh build-cxx.sh
 ls -l
 drwxr-xr-x  2 root    root    4096 Jun 30 15:53 cxx-deb-pkgs/

The deb package of the deliverable is output under cxx-deb-pkgs. Since the owner is root, it is easier to access if you change it to the execution user.
Since we are using a Docker image with ROS installed, a package for ROS (openrtm2-ros * -tp) will also be generated.

 ls cxx-deb-pkgs/
 openrtm2-dev_2.0.0-0_amd64.deb        openrtm2-ros-tp_2.0.0-0_amd64.deb     openrtm2_2.0.0-0_amd64.buildinfo
 openrtm2-doc_2.0.0-0_all.deb          openrtm2-ros2-tp_2.0.0-0_amd64.deb    openrtm2_2.0.0-0_amd64.changes
 openrtm2-example_2.0.0-0_amd64.deb    openrtm2_2.0.0-0.dsc                  openrtm2_2.0.0-0_amd64.deb
 openrtm2-idl_2.0.0-0_amd64.deb        openrtm2_2.0.0-0.tar.gz

（※）Running this script in an amd64 environment will generate a deb package for amd64, and running it in an aarch64 environment will generate a deb package for arm64.

If you want to modify and install the OpenRTM-aist source, comment out the following part of the build-cxx.sh script, place the OpenRTM-aist source in the same directory as build-cxx.sh, and execute it.

 #----- OpenRTM-aist
 echo "${password}" | sudo -S rm -rf ${TARGET}-*
 #rm -rf OpenRTM-aist    <-- Comment out
 #git clone https://github.com/OpenRTM/OpenRTM-aist    <-- Comment out

Build Python source

OpenRTM-aist-Python source does not include Dockerfile. The following Dockerfile is used when creating the deb package for the release of OpenRTM-aist-Python.

As with C ++ source build, I will introduce a script that performs from source build to deb package generation with Docker, and the process of copying the deb package that is the deliverable from the Docker container to the host side at once.

The procedure for creating a deb package for Ubuntu 20.04 is as follows.

 git clone https://github.com/n-kawauchi/RTM-src-pkgs-docker-build
 cd RTM-src-pkgs-docker-build/ubuntu_2004/
 sh build-python.sh

The deb package of the deliverable is output under python-deb-pkgs, and the source package is output under python-src-pkgs.

 ls python-deb-pkgs/
 openrtm2-python3-doc_2.0.0-0_all.deb 
 openrtm2-python3-example_2.0.0-0_amd64.deb     openrtm2-python3_2.0.0-0_amd64.changes
 openrtm2-python3_2.0.0-0.dsc                   openrtm2-python3_2.0.0-0_amd64.deb

 ls python-src-pkgs/
 OpenRTM-aist-Python-2.0.0.tar.gz  OpenRTM-aist-Python-2.0.0.zip

If you want to modify and install the OpenRTM-aist-Python source, comment out the following part of the build-python.sh script.　Place the OpenRTM-aist-Python source in the same directory as build-python.sh and Dockerfile-python-deb and execute it.

 #----- OpenRTM-aist-Python
 echo "${password}" | sudo -S rm -rf ${TARGET}-*
 #--------　Comment out
 #rm -rf OpenRTM-aist-Python
 #git clone https://github.com/OpenRTM/OpenRTM-aist-Python
 #cd OpenRTM-aist-Python
 #git checkout ${BRANCH}
 #cd -
 #--------　Comment out

Build Java source

OpenRTM-aist-Java source does not include Dockerfile. The following Dockerfile is used when creating the deb package for the release of OpenRTM-aist-Java.

As with C ++ source build, I will introduce a script that performs from source build to deb package generation with Docker, and the process of copying the deb package that is the deliverable from the Docker container to the host side at once.

The procedure for creating a deb package for Ubuntu 20.04 is as follows.

 git clone https://github.com/n-kawauchi/RTM-src-pkgs-docker-build
 cd RTM-src-pkgs-docker-build/ubuntu_2004/
 sh build-java.sh

The deb package of the deliverable is output under java-deb-pkgs, and the source package is output under java-src-pkgs.

 ls java-deb-pkgs/
 openrtm2-java-doc_2.0.0-0_all.deb        openrtm2-java_2.0.0-0_amd64.buildinfo
 openrtm2-java-example_2.0.0-0_amd64.deb  openrtm2-java_2.0.0-0_amd64.changes
 openrtm2-java_2.0.0-0.dsc                openrtm2-java_2.0.0-0_amd64.deb

 ls java-src-pkgs/
 OpenRTM-aist-Java-2.0.0-jar.zip  OpenRTM-aist-Java-2.0.0.zip
 OpenRTM-aist-Java-2.0.0.tar.gz

If you want to modify and install the OpenRTM-aist-Python source, comment out the following part of the build-python.sh script.　Place the OpenRTM-aist-Python source in the same directory as build-python.sh and Dockerfile-python-deb and execute it.

 #----- OpenRTM-aist-Java
 echo "${password}" | sudo -S rm -rf ${TARGET}-*
 #--------　Comment out
 #rm -rf OpenRTM-aist-Java
 #git clone https://github.com/OpenRTM/OpenRTM-aist-Java
 #cd OpenRTM-aist-Java
 #git checkout ${BRANCH}
 #cd -
 #--------　Comment out

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What the installer does

Package details

The contents of each package are as follows.

openrtm2

openrtm2 contains runtime libraries and commands.

  • Command 
     /usr/bin/rtcd2
 /usr/bin/rtcprof2
 /usr/bin/rtm2-config
 /usr/bin/rtm2-naming
  • Sample configuration file 
     /usr/etc/logger/rtc.fluentbit_stream.conf
 /usr/etc/rtc.conf.sample2
 /usr/etc/rtc.names.ssl.conf
 /usr/etc/ssl/rtc.ssl.conf
 /usr/lib/x86_64-linux-gnu/pkgconfig/openrtm2.pc
  • Libraries, etc. 
     /usr/lib/x86_64-linux-gnu/libRTC2.a
 /usr/lib/x86_64-linux-gnu/libRTC2.so.2.0.0
 ...
 /usr/lib/x86_64-linux-gnu/librtmCamera2.so
 /usr/lib/x86_64-linux-gnu/librtmManipulator2.so
 ...
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/ec/LogicalTimeTriggeredEC.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/local_service/FileNameservice.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/logger/FluentBit.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/sdo/ComponentObserverConsumer.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/sdo/ExtendedFsmServiceProvider.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/sdo/LoggerConsumer.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/ssl/SSLTransport.so

openrtm2-dev

openrtm2-dev contains the commands and headers needed for development.

  • Command 
     /usr/bin/rtm2-skelwrapper
  • Header files 
     /usr/include/coil-2.0/coil/Affinity.h
 /usr/include/coil-2.0/coil/Async.h
 ...
 /usr/include/openrtm-2.0/rtm/BufferBase.h
 /usr/include/openrtm-2.0/rtm/BufferStatus.h
 ...
 /usr/include/openrtm-2.0/rtm/config_rtc.h
 /usr/include/openrtm-2.0/rtm/ext/FastRTPSMessageInfo.h
 /usr/include/openrtm-2.0/rtm/ext/ROSMessageInfo.h
 /usr/include/openrtm-2.0/rtm/idl/BasicDataType.hh 
 /usr/include/openrtm-2.0/rtm/idl/BasicDataTypeSkel.h
 ...
 /usr/include/openrtm-2.0/rtm/idl/SharedMemoryStub.h
 /usr/include/openrtm-2.0/rtm/version.h
  • Libraries and others 
     /usr/lib/x86_64-linux-gnu/openrtm-2.0/cmake/OpenRTMConfig.cmake
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/cmake/OpenRTMConfigVersion.cmake
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/py_helper/skel_wrapper.py
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/py_helper/yat.py

openrtm2-example

openrtm2-example contains samples for standalone RTC and loadable RTC respectively.

  • Sample (Stand alone RTC) 
     /usr/share/openrtm-2.0/components/c++/examples/CompositeComp
 /usr/share/openrtm-2.0/components/c++/examples/ConfigSampleComp
 ...
 /usr/share/openrtm-2.0/components/c++/examples/rtc.conf
  • Sample (Loadable RTC) 
     /usr/share/openrtm-2.0/components/c++/examples/rtc/ConfigSample.so
 /usr/share/openrtm-2.0/components/c++/examples/rtc/ConsoleIn.so
 ...
 /usr/share/openrtm-2.0/components/c++/examples/rtc/Throughput.so

openrtm2-ros-tp

ROS communication function library is installed.

 /usr/lib/x86_64-linux-gnu/openrtm-2.0/transport/ROSTransport.so

openrtm2-ros2-tp

ROS2 communication function library is installed.

 /usr/lib/x86_64-linux-gnu/openrtm-2.0/transport/FastRTPSTransport.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/transport/ROS2Transport.so

openrtm2-doc

openrtm2-doc contains Japanese and English class references and IDL interface definition references.

  • Class Reference (Japanese) 
     /usr/share/openrtm-2.0/doc/c++/ClassReference/html/BufferBase_8h.html
 /usr/share/openrtm-2.0/doc/c++/ClassReference/html/BufferBase_8h__dep__incl.map
 ...
 /usr/share/openrtm-2.0/doc/c++/ClassReference/html/structSDOPackage_1_1Organization__impl_1_1sdo__id.html
  • IDL Reference (Japanese) 
     /usr/share/openrtm-2.0/doc/idl/IDLReference/html/BasicDataType_8idl.html
 /usr/share/openrtm-2.0/doc/idl/IDLReference/html/BasicDataType_8idl_dep_incl.map
 ...
 /usr/share/openrtm-2.0/doc/idl/IDLReference/html/unionSDOPackage_1_1Numeric.html
  • Class Reference (English) 
     /usr/share/openrtm-2.0/doc/c++/ClassReference-en/html/BufferBase_8h.html
 /usr/share/openrtm-2.0/doc/c++/ClassReference-en/html/BufferBase_8h__dep__incl.map
 ...
 /usr/share/openrtm-2.0/doc/C++/ClassReference-en/html/version_8h_source.html
  • IDL Reference (English) 
     /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/BasicDataType_8idl.html
 /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/BasicDataType_8idl__dep__incl.map
 ...
 /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/unionSDOPackage_1_1Numeric.html

openrtm2-idl

  • idl files etc. 
     /etc/profile.d/openrtm2-idl.sh
 /usr/include/openrtm-2.0/rtm/idl/BasicDataType.idl
 /usr/include/openrtm-2.0/rtm/idl/CameraCommonInterface.idl
 ...
 /usr/include/openrtm-2.0/rtm/idl/SharedMemory.idl
 /usr/share/openrtm-2.0/idl/BasicDataType.idl
 /usr/share/openrtm-2.0/idl/CameraCommonInterface.idl
 ...
 /usr/share/openrtm-2.0/idl/SharedMemory.idl

openrtm2-python3

  • Command 
     /usr/bin/rtcd2_python3
 /usr/bin/rtcprof2_python3
  • Python module of OpenRTM-aist body 
     /usr/lib/python3/dist-packages/OpenRTM_aist/*
  • Python search path file for OpenRTM-aist 
     /usr/lib/python3/dist-packages/OpenRTM-aist.pth
  • utility 
     /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/*

openrtm2-python3-example

 /usr/share/openrtm-2.0/components/python3/__init__.py
 /usr/share/openrtm-2.0/components/python3/component.conf
 /usr/share/openrtm-2.0/components/python3/rtcd.conf
 /usr/share/openrtm-2.0/components/python3/AutoControl/*
 /usr/share/openrtm-2.0/components/python3/AutoTest/*
 /usr/share/openrtm-2.0/components/python3/CSPSample/*
 /usr/share/openrtm-2.0/components/python3/CSPSelectSample/*
 /usr/share/openrtm-2.0/components/python3/CSPStaticFsmSample/*
 /usr/share/openrtm-2.0/components/python3/Composite/*
 /usr/share/openrtm-2.0/components/python3/ConfigSample/*
 /usr/share/openrtm-2.0/components/python3/ExtTrigger/*
 /usr/share/openrtm-2.0/components/python3/MobileRobotCanvas/*
 /usr/share/openrtm-2.0/components/python3/SeqIO/*
 /usr/share/openrtm-2.0/components/python3/Serializer/*
 /usr/share/openrtm-2.0/components/python3/SimpleIO/*
 /usr/share/openrtm-2.0/components/python3/SimpleService/*
 /usr/share/openrtm-2.0/components/python3/Slider_and_Motor/*
 /usr/share/openrtm-2.0/components/python3/Throughput/*
 /usr/share/openrtm-2.0/components/python3/TkJoyStick/
 /usr/share/openrtm-2.0/components/python3/TkLRFViewer/*

openrtm2-python3-doc

Install English/Japanese class reference.

  • Class reference 
     /usr/share/openrtm-2.0/doc/python3/ClassReference-en/html/_async_8py.html
 /usr/share/openrtm-2.0/doc/python3/ClassReference-en/html/_buffer_base_8py.html
 ...
 /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_async_8py.html
 /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_buffer_base_8py.html
 /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_buffer_status_8py.html
 ...

openrtm2-java

 /etc/profile.d/openrtm-java.sh
 /usr/bin/rtcd2_java
 /usr/bin/rtcprof2_java
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/License.txt
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/LogicalTimeTriggeredEC.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/NameserviceFile.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/OpenRTM-aist-2.0.0.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/commons-cli-1.1.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/jna-4.2.2.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/jna-platform-4.2.2.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/rtcd.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/rtcprof.jar

openrtm2-java-example

Java version sample RTC, Class file, source file, startup script 

 /usr/share/openrtm-2.0/components/java/* 
 /usr/share/openrtm-2.0/components/java/RTMExamples/AutoTest/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/Composite/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/ConfigSample/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/ExtTrigger/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/Fsm/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/control/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/model/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/view/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/MyService.idl
 /usr/share/openrtm-2.0/components/java/RTMExamples/SeqIO/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SeqIO/view/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SimpleIO/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SimpleService/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SinCosOut/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/StaticFsm/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/Throughput/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/TopicTest/*

openrtm2-java-doc

openrtm2-java-doc contains Japanese and English class references.

 /usr/share/openrtm-2.0/doc/java/JavaDoc/OpenRTM/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/OpenRTM/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/RTC/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/RTC/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/RTM/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/RTM/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/_SDOPackage/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/_SDOPackage/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/Version.html
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/class-use
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/OpenRTM/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/OpenRTM/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/RTC/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/RTC/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/RTM/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/RTM/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/_SDOPackage/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/_SDOPackage/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/index-files/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/class-use/Logbuf.html
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/*

openrtp2

In openrtp installation, since so many files are installed, the listing is not made. Depend on your needs, use the following command. 

 $ dpkg -L openrtp2

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