The version of Raspbian for which packages are currently available is
It is convenient to use Raspberry Pi Imager, a tool that can be downloaded from the official website, to write the OS image.
https://www.raspberrypi.com/software/
C++ can coexist in 1.2 series and 2.0 series. However, 1.2 series can only be installed on Buster(32bit).
With this support, the following changes have been made regarding installation.
Installation script (both 1.2 series and 2.0 series) supports batch processing from download to installation.
$ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/openrtm2_install_raspbian.sh)
This will install the following packages: (For 32bit version)
$ dpkg -l | grep openrt ii openrtm2:armhf 2.0.1-0 armhf OpenRTM-aist, RT-Middleware distributed by AIST ii openrtm2-dev:armhf 2.0.1-0 armhf OpenRTM-aist headers for development ii openrtm2-doc 2.0.1-0 all Documentation for openrtm2 ii openrtm2-example:armhf 2.0.1-0 armhf OpenRTM-aist examples ii openrtm2-idl:armhf 2.0.1-0 armhf OpenRTM-aist idls for development ii openrtm2-java:armhf 2.0.1-0 armhf OpenRTM-aist, RT-Middleware distributed by AIST ii openrtm2-java-doc 2.0.1-0 all Documentation for openrtm2-java ii openrtm2-java-example:armhf 2.0.1-0 armhf OpenRTM-aist-Java examples ii openrtm2-python3 2.0.1-0 armhf OpenRTM-aist, RT-Middleware distributed by AIST ii openrtm2-python3-doc 2.0.1-0 all Documentation for openrtm2-python3 ii openrtm2-python3-example 2.0.1-0 armhf OpenRTM-aist-Python examples
$ pip3 list | grep aist OpenRTM-aist-Python 2.0.1 rtctree-aist 4.2.3 rtshell-aist 4.2.9 rtsprofile-aist 4.1.5
The contents of each package are as follows.
openrtm2 contains a runtime library and a set of commands.
/usr/bin/rtcd2 /usr/bin/rtcprof2 /usr/bin/rtm2-config /usr/bin/rtm2-naming
/usr/etc/rtc.conf.sample2 /usr/etc/rtc.names.ssl.conf /usr/etc/ssl/rtc.ssl.conf /usr/lib/arm-linux-gnueabihf/pkgconfig/openrtm2.pc
/usr/lib/arm-linux-gnueabihf/libRTC2.a /usr/lib/arm-linux-gnueabihf/libRTC2.so.2.0.0 ... /usr/lib/arm-linux-gnueabihf/librtmCamera2.so /usr/lib/arm-linux-gnueabihf/librtmManipulator2.so
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/ec/LogicalTimeTriggeredEC.so /usr/lib/arm-linux-gnueabihf/openrtm-2.0/local_service/FileNameservice.so /usr/lib/arm-linux-gnueabihf/openrtm-2.0/sdo/ComponentObserverConsumer.so /usr/lib/arm-linux-gnueabihf/openrtm-2.0/sdo/ExtendedFsmServiceProvider.so /usr/lib/arm-linux-gnueabihf/openrtm-2.0/sdo/LoggerConsumer.so /usr/lib/arm-linux-gnueabihf/openrtm-2.0/ssl/SSLTransport.so ... /usr/lib/arm-linux-gnueabihf/openrtm-1.2/sdo/LoggerConsumer.so.0.0.0 /usr/lib/libfluent-bit.so
contains the commands and headers needed for development.
/usr/bin/rtm2-skelwrapper
/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/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
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/cmake/OpenRTMConfig.cmake /usr/lib/arm-linux-gnueabihf/openrtm-2.0/cmake/OpenRTMConfigVersion.cmake /usr/lib/arm-linux-gnueabihf/openrtm-2.0/py_helper/skel_wrapper.py /usr/lib/arm-linux-gnueabihf/openrtm-2.0/py_helper/yat.py
/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
contains samples for standalone RTC and loadable RTC respectively.
/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
/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
contains Japanese and English class references and IDL interface definition references.
/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
/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
/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
/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
/usr/bin/rtcd2_python3 /usr/bin/rtcprof2_python3
/usr/lib/python3/dist-packages/OpenRTM_aist/*
/usr/lib/python3/dist-packages/OpenRTM-aist.pth
/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-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/*
Install English/Japanese 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
/etc/profile.d/openrtm-java.sh /usr/bin/rtcd2_java /usr/bin/rtcprof2_java /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/License.txt /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/LogicalTimeTriggeredEC.jar /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/NameserviceFile.jar /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/OpenRTM-aist-2.0.1.jar /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/commons-cli-1.1.jar /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/jna-4.2.2.jar /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/jna-platform-4.2.2.jar /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/rtcd.jar /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/rtcprof.jar
Java版サンプルRTC、Classファイル、ソースファイル、起動スクリプト
/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/*