• Installation of software required for development
  • Visual Studio
  • Python
  • CMake
  • Doxygen & Graphviz
  • JDK8
• Install OpenRTM-aist
  • Download installer
  • Install
  • Checking system environment variables

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 2019/2022/2026 separately.

• Microsoft ''Download Visual Studio 2026''

• Installing Visual Studio Community 2026

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 3.10, 3.11, 3.12, 3.13, 3.14. We recommend that you install the latest version.

• Python Releases for Windows
  • python-3.13.13-amd64.exe (64bit)

• 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-4.3.3-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-1.17.0-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-15.0.0-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

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 ++
  • OpenCV 4.13.0
  • Past versions of DLLs for C ++ (Required when running the old RTC)
• Development environment for Python
• Development environment for Java
• omniORB 4.3.4
• 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

Checking system environment variables

The system environment variable RTM_VC_VERSION is set to match the installed Visual Studio version. After installation, this environment variable expands to the value vc16, but we have confirmed that in some cases it may not expand due to Windows behavior. Therefore, we recommend checking the system environment variable with VCVerChanger.

Enter VCVerChanger in the search bar and launch it. Once launched, press the "確認" button, check the displayed path, and then press "終了".

• 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\2.1.x\Components\C++\Examples
 C:\Program Files\OpenRTM-aist\2.1.x\Components\Python
 C:\Program Files\OpenRTM-aist\2.1.x\Components\Java
 C:\Program Files\OpenRTM-aist\2.1.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

Required software and libraries

Following software is required.　For details, see Installation of OpenRTM-aist 2.1 series on Windows

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

• omniORB 4.3.4

The pre-built binary package provided by openrtm.org is available under the name omniORB-4.3.4-x64-vc16-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 2.1 source, and v2.1.0 for the 2.1.0 release source.

 git clone https://github.com/OpenRTM/OpenRTM-aist
 cd OpenRTM-aist
 git checkout -b v210-src refs/tags/v2.1.0

• -DORB_ROOT : Downloaded and unzipped omniORB path
• -G :Visual Studio version（"Visual Studio 18 2026" "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/4.2.5-x64-vc16-py314 -G "Visual Studio 18 2026" -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 (OpenRTM-build-Windows.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
 copy scripts\OpenRTM-build-Windows.bat . 
 OpenRTM-build-Windows.bat > build.log

This OpenRTM-build-Windows.bat file is used during the build process for integrating it into the Windows Installer MSI. Please use only the necessary options when using CMake.

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 2.1.0 version is installed with default settings)

   RTM_BASE=C:\Program Files\OpenRTM-aist\
   RTM_ROOT=C:\Program Files\OpenRTM-aist\2.1.0\
   RTM_VC_VERSION=vc16
   RTM_JAVA_ROOT=C:\Program Files\OpenRTM-aist\2.1.0\
   RTM_IDL_DIR=C:\Program Files\OpenRTM-aist\2.1.0\rtm\idl\
   OMNI_ROOT=C:\Program Files\OpenRTM-aist\2.1.0\omniORB\4.3.4_vc16\
   OpenCV_DIR=C:\Program Files\OpenRTM-aist\2.1.0\OpenCV4.13.0\
   OpenRTM_DIR=C:\Program Files\OpenRTM-aist\2.1.0\cmake\

• Additional settings to PATH (when OpenRTM-aist 2.1.0 version is installed with default settings)

   C:\Program Files\OpenRTM-aist\2.1.0\bin\vc16\
   C:\Program Files\OpenRTM-aist\2.1.0\omniORB\4.3.4_vc16\bin\x86_win32\ 
   C:\Program Files\OpenRTM-aist\2.1.0\OpenCV4.13.0\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  : Older version runtime
      + 2.1.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 4.3.4
         + OpenCV 4.13.0
         + 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

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

• Changes in 2.1 series
• Bulk installation script
• Installing packages for ROS

2.1 is currently compatible with Ubuntu 22.04, 24.04 (amd64, arm64 respectively). Please note that the supported version and support for Ubuntu/Debian GNU Linux are subject to change without notice.

Changes in 2.1 series

SSM communication function can now be installed. Since the SSM library is statically linked, you do not need to install SSM separately. The following will be installed from the openrtm2-ssm-tp deb package.

 usr/
 ├── bin
 │   ├── killssm
 │   ├── lsssm
 │   ├── psssm
 │   ├── ssm-advance-player
 │   ├── ssm-coordinator
 │   ├── ssm-date
 │   ├── ssm-graph
 │   ├── ssm-logger
 │   ├── ssm-monitor
 │   ├── ssm-player
 │   ├── ssm-proxy
 │   ├── ssm-transporter
 │   └── topssm
 ├── etc
 │   └── transport
 │       └── rtc.ssm.conf
 └── share
     └── openrtm-2.1
         └── transport
             └── SSMTransport.so

This feature will not be installed if you run the "Batch Installation Script" described in the next section without any options.
You can install it by specifying the option "-l c++ --ssm". You can check this with --help.

Bulk installation script

To install 2.1 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:arm64                         2.1.0-0                                  arm64        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-dev:arm64                     2.1.0-0                                  arm64        OpenRTM-aist headers for development
 ii  openrtm2-doc                           2.1.0-0                                  all          Documentation for openrtm2
 ii  openrtm2-example:arm64                 2.1.0-0                                  arm64        OpenRTM-aist examples
 ii  openrtm2-idl:arm64                     2.1.0-0                                  arm64        OpenRTM-aist idls for development
 ii  openrtm2-java:arm64                    2.1.0-0                                  arm64        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-java-example:arm64            2.1.0-0                                  arm64        OpenRTM-aist-Java examples
 ii  openrtm2-naming:arm64                  2.1.0-0                                  arm64        OpenRTM-aist name server launcher
 ii  openrtm2-python3                       2.1.0-0                                  arm64        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-python3-example               2.1.0-0                                  arm64        OpenRTM-aist-Python examples

Using the default pip version will cause rtshell installation to fail.
Follow the instructions in the yellow text displayed by the installation script and add the following to /etc/pip.conf (create a new file if it doesn't exist).

 $ vi /etc/pip.conf
 [global]
 break-system-packages = true

After configuring the settings above, you can install rtshell by running the installation script again.

 $ pip3 list | grep aist
 OpenRTM-aist-Python        2.1.0
 rtctree-aist                       4.2.5
 rtshell-aist                       4.2.10
 rtsprofile-aist                    4.1.6

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 2.1 series, you can install the package for ROS communication function.
This section explains how to install packages in an environment where ROS2 is installed.

As mentioned in help, the ROS package installation options are supported below.
[-e ros2|all] [--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 ++ --ros2l".

 $ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/openrtm2_install_ubuntu.sh) -l c++ --ros2

If you want to install all the packages for ROS and ROS2 from the beginning, you can do it with "-l all --ros2".

 $ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/openrtm2_install_ubuntu.sh) -l all --ros2

Check the installed packages.

 $ dpkg -l | grep openrt
 ii  openrtm2:amd64               2.1.0-0   amd64        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-dev:amd64           2.1.0-0   amd64        OpenRTM-aist headers for development
 ii  openrtm2-doc                 2.1.0-0   all          Documentation for openrtm2
 ii  openrtm2-example:amd64       2.1.0-0   amd64        OpenRTM-aist examples
 ii  openrtm2-idl:amd64           2.1.0-0   amd64        OpenRTM-aist idls for development
 ii  openrtm2-java:amd64          2.1.0-0   amd64        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-java-example:amd64  2.1.0-0   amd64        OpenRTM-aist-Java examples
 ii  openrtm2-naming:arm64        2.1.0-0   arm64        OpenRTM-aist name server launcher
 ii  openrtm2-python3             2.1.0-0   amd64        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-python3-example     2.1.0-0   amd64        OpenRTM-aist-Python examples
 ii  openrtm2-ros2-tp:amd64       2.1.0-0   amd64        OpenRTM-aist extension ROS2 package
 ii  openrtp2:amd64               2.1.0-0   amd64        OpenRTP, Open RT Platform distributed by AIST

• Run the sample component
• Installation of OpenCV sample components
  • Installation example of OpenCV4.5.4
  • OpenCV sample component build procedure

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-2.1/components/c++/examples
 /usr/share/openrtm-2.1/components/python3/
 /usr/share/openrtm-2.1/components/java

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

• OpenRTM-aist 2.x series is started by the openrtp2 command.

 $ openrtp2

• List of sample components

• Install OpenRTM-aist (C++ Version) 1.2・Operation Check (On Linux)
• Install OpenRTM-aist (Python Version) 1.2・Operation Check (On Linux))
• Install OpenRTM-aist (Java Version) 1.2・Operation Check (On Linux)

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.

• Build with Docker
• Build C ++ source
  • About Docker image "openrtm/develop-rtm"
  • Script that batch processes up to deb package creation with Docker
• Build Python source
• Build Java source

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

Build C ++ source

The OpenRTM-aist 2.1 series source includes Dockerfile for Ubuntu22.04 and 24.04.

 OpenRTM-aist/scripts/ubuntu_2204/Dockerfile
 OpenRTM-aist/scripts/ubuntu_2404/Dockerfile

The build procedure is as follows.　This is a build example for Ubuntu 24.04.　
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_2404/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 22.04 and 24.04 respectively, and uses the image with this name uploaded to the Docker hub.

 FROM openrtm/devel-rtm:ubuntu22.04
        or
 FROM openrtm/devel-rtm:ubuntu24.04

• For Ubuntu 22.04：humble
• For Ubuntu 24.04：jazzy

 OpenRTM-aist/scripts/ubuntu_2204/Dockerfile.devel-rtm
 OpenRTM-aist/scripts/ubuntu_2404/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 24.04 is as follows.

 git clone https://github.com/n-kawauchi/RTM-src-pkgs-docker-build
 cd RTM-src-pkgs-docker-build/ubuntu_2404/
 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 ROS2 (openrtm2-ros2 -tp) will also be generated. The SSM package (openrtm2-ssm-tp), which was added in version 2.1, will also be generated.

 ls cxx-deb-pkgs/
 openrtm2_2.1.0-0_amd64.buildinfo  openrtm2-dev_2.1.0-0_amd64.deb      openrtm2-naming_2.1.0-0_amd64.deb
 openrtm2_2.1.0-0_amd64.changes    openrtm2-doc_2.1.0-0_all.deb        openrtm2-ros2-tp_2.1.0-0_amd64.deb
 openrtm2_2.1.0-0_amd64.deb        openrtm2-example_2.1.0-0_amd64.deb  openrtm2-ssm-tp_2.1.0-0_amd64.deb
 openrtm2_2.1.0-0.dsc              openrtm2-idl_2.1.0-0_amd64.deb      openrtm2-ssm-tp-dbgsym_2.1.0-0_amd64.ddeb

（※）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

• ubuntu_2204/Dockerfile-python-deb
• ubuntu_2404/Dockerfile-python-deb

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 24.04 is as follows.

 git clone https://github.com/n-kawauchi/RTM-src-pkgs-docker-build
 cd RTM-src-pkgs-docker-build/ubuntu_2404/
 sh build-python.sh

The deb package of the deliverable is output under python-deb-pkgs.

 ls python-deb-pkgs/
 openrtm2-python3_2.1.0-0_amd64.changes  openrtm2-python3_2.1.0-0.dsc
 openrtm2-python3_2.1.0-0_amd64.deb      openrtm2-python3-example_2.1.0-0_amd64.deb

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

• ubuntu_2204/Dockerfile-java-deb
• ubuntu_2404/Dockerfile-java-deb

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 24.04 is as follows.

 git clone https://github.com/n-kawauchi/RTM-src-pkgs-docker-build
 cd RTM-src-pkgs-docker-build/ubuntu_2404/
 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_2.1.0-0_amd64.buildinfo  openrtm2-java_2.1.0-0_amd64.deb  openrtm2-java-doc_2.1.0-0_all.deb
 openrtm2-java_2.1.0-0_amd64.changes    openrtm2-java_2.1.0-0.dsc        openrtm2-java-example_2.1.0-0_amd64.deb

 ls java-src-pkgs/
 OpenRTM-aist-Java-2.1.0-jar.zip  OpenRTM-aist-Java-2.1.0.tar.gz  OpenRTM-aist-Java-2.1.0.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-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

• Package details
  • openrtm2
  • openrtm2-naming
  • openrtm2-dev
  • openrtm2-example
  • openrtm2-ros2-tp
  • openrtm2-ssm-tp
  • openrtm2-doc
  • openrtm2-idl
  • openrtm2-python3
  • openrtm2-python3-example
  • openrtm2-java
  • openrtm2-java-example
  • openrtm2-java-doc
  • openrtp2

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.2.1.0
   ...
   /usr/lib/x86_64-linux-gnu/librtmCamera2.so
   /usr/lib/x86_64-linux-gnu/librtmManipulator2.so
   ...
   /usr/lib/x86_64-linux-gnu/openrtm-2.1/ec/LogicalTimeTriggeredEC.so
   /usr/lib/x86_64-linux-gnu/openrtm-2.1/local_service/FileNameservice.so
   /usr/lib/x86_64-linux-gnu/openrtm-2.1/logger/FluentBit.so
   /usr/lib/x86_64-linux-gnu/openrtm-2.1/sdo/ComponentObserverConsumer.so
   /usr/lib/x86_64-linux-gnu/openrtm-2.1/sdo/ExtendedFsmServiceProvider.so
   /usr/lib/x86_64-linux-gnu/openrtm-2.1/sdo/LoggerConsumer.so
   /usr/lib/x86_64-linux-gnu/openrtm-2.1/ssl/SSLTransport.so

openrtm2-naming

Start name server.

 /usr/bin/rtm2-naming

openrtm2-dev

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

• Command

   /usr/bin/rtm2-skelwrapper

• Header files

   /usr/include/coil-2.1/coil/Affinity.h
   /usr/include/coil-2.1/coil/Async.h
   ...
   /usr/include/openrtm-2.1/rtm/BufferBase.h
   /usr/include/openrtm-2.1/rtm/BufferStatus.h
   ...
   /usr/include/openrtm-2.1/rtm/config_rtc.h
   /usr/include/openrtm-2.1/rtm/ext/FastRTPSMessageInfo.h
   /usr/include/openrtm-2.1/rtm/ext/ROSMessageInfo.h
   /usr/include/openrtm-2.1/rtm/idl/BasicDataType.hh 
   /usr/include/openrtm-2.1/rtm/idl/BasicDataTypeSkel.h
   ...
   /usr/include/openrtm-2.1/rtm/idl/SharedMemoryStub.h
   /usr/include/openrtm-2.1/rtm/version.h

• Libraries and others

   /usr/lib/x86_64-linux-gnu/cmake/openrtm-2.1/OpenRTMConfig.cmake
   /usr/lib/x86_64-linux-gnu/cmake/openrtm-2.1/OpenRTMConfigVersion.cmake
   /usr/share/openrtm-2.1/py_helper/skel_wrapper.py
   /usr/share/openrtm-2.1/py_helper/yat.py

openrtm2-example

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

• Sample (Stand alone RTC)

   /usr/share/openrtm-2.1/components/c++/examples/CompositeComp
   /usr/share/openrtm-2.1/components/c++/examples/ConfigSampleComp
   ...
   /usr/share/openrtm-2.1/components/c++/examples/rtc.conf

• Sample (Loadable RTC)

   /usr/share/openrtm-2.1/components/c++/examples/rtc/ConfigSample.so
   /usr/share/openrtm-2.1/components/c++/examples/rtc/ConsoleIn.so
   ...
   /usr/share/openrtm-2.1/components/c++/examples/rtc/Throughput.so

openrtm2-ros2-tp

ROS2 communication function library is installed.

 /usr/lib/x86_64-linux-gnu/openrtm-2.1/transport/FastRTPSTransport.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.1/transport/ROS2Transport.so

openrtm2-ssm-tp

SSM and the SSM communication function library will be installed.

 /usr/bin/ssm-coordinator
 /usr/bin/ssm-date
 ...
 /usr/share/openrtm-2.1/transport/SSMTransport.so

openrtm2-doc

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

• Class Reference (Japanese)

   /usr/share/openrtm-2.1/doc/c++/ClassReference/html/BufferBase_8h.html
   /usr/share/openrtm-2.1/doc/c++/ClassReference/html/BufferBase_8h__dep__incl.map
   ...
   /usr/share/openrtm-2.1/doc/c++/ClassReference/html/structSDOPackage_1_1Organization__impl_1_1sdo__id.html

• IDL Reference (Japanese)

   /usr/share/openrtm-2.1/doc/idl/IDLReference/html/BasicDataType_8idl.html
   /usr/share/openrtm-2.1/doc/idl/IDLReference/html/BasicDataType_8idl_dep_incl.map
   ...
   /usr/share/openrtm-2.1/doc/idl/IDLReference/html/unionSDOPackage_1_1Numeric.html

• Class Reference (English)

   /usr/share/openrtm-2.1/doc/c++/ClassReference-en/html/BufferBase_8h.html
   /usr/share/openrtm-2.1/doc/c++/ClassReference-en/html/BufferBase_8h__dep__incl.map
   ...
   /usr/share/openrtm-2.1/doc/C++/ClassReference-en/html/version_8h_source.html

• IDL Reference (English)

   /usr/share/openrtm-2.1/doc/idl/IDLReference-en/html/BasicDataType_8idl.html
   /usr/share/openrtm-2.1/doc/idl/IDLReference-en/html/BasicDataType_8idl__dep__incl.map
   ...
   /usr/share/openrtm-2.1/doc/idl/IDLReference-en/html/unionSDOPackage_1_1Numeric.html

openrtm2-idl

• idl files etc.

   /etc/profile.d/openrtm2-idl.sh
   /usr/include/openrtm-2.1/rtm/idl/BasicDataType.idl
   /usr/include/openrtm-2.1/rtm/idl/CameraCommonInterface.idl
   ...
   /usr/include/openrtm-2.1/rtm/idl/SharedMemory.idl
   /usr/share/openrtm-2.1/idl/BasicDataType.idl
   /usr/share/openrtm-2.1/idl/CameraCommonInterface.idl
   ...
   /usr/share/openrtm-2.1/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-java

 /etc/profile.d/openrtm-java.sh
 /usr/bin/rtcd2_java
 /usr/bin/rtcprof2_java
 /usr/lib/x86_64-linux-gnu/openrtm-2.1/jar/License.txt
 /usr/lib/x86_64-linux-gnu/openrtm-2.1/jar/LogicalTimeTriggeredEC.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.1/jar/NameserviceFile.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.1/jar/OpenRTM-aist-2.1.0.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.1/jar/commons-cli-1.1.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.1/jar/jna-4.2.2.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.1/jar/jna-platform-4.2.2.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.1/jar/rtcd.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.1/jar/rtcprof.jar

openrtm2-java-example

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

 /usr/share/openrtm-2.1/components/java/* 
 /usr/share/openrtm-2.1/components/java/RTMExamples/AutoTest/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/Composite/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/ConfigSample/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/ExtTrigger/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/Fsm/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/GUIIn/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/MyService.idl
 /usr/share/openrtm-2.1/components/java/RTMExamples/SeqIO/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/SimpleIO/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/SimpleService/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/SinCosOut/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/StaticFsm/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/Throughput/*
 /usr/share/openrtm-2.1/components/java/RTMExamples/TopicTest/*

openrtm2-java-doc

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

 /usr/share/openrtm-2.1/doc/java/JavaDoc/OpenRTM/class-use/*
 /usr/share/openrtm-2.1/doc/java/JavaDoc/RTC/class-use/*
 /usr/share/openrtm-2.1/doc/java/JavaDoc/RTM/class-use/*
 ...
 /usr/share/openrtm-2.1/doc/java/JavaDoc/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-2.1/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-2.1/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/class-use/*
 ...
 /usr/share/openrtm-2.1/doc/java/JavaDocEn/OpenRTM/class-use/*
 /usr/share/openrtm-2.1/doc/java/JavaDocEn/RTC/class-use/*
 /usr/share/openrtm-2.1/doc/java/JavaDocEn/RTM/class-use/*

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