Installation on Windows

Openrtm.org provides an MSI package for installing the Python edition of OpenRTM-aist, its prerequisites such as omniORBpy, and the RTSystemEditor tool all at once on Windows.

Installation by msi package

Download the msi package from download site of openrtm.org. The msi package contains tools such as omniORBpy and RTSystemEditor that are required, but Python needs to be installed in advance. From version 1.1.2, all 3 languages (C++, Java, Python) + tools (Eclipse + rtshell) are bundled with one Windows installer. We recommend that you uninstall the older version in advance. Also, please see the notation of deficit notation in download site.

Invoking the installer

For the procedure, OpenRTM-aist in 10 minutes! page.

Installation details

Work contents of installer

The installer performs the following tasks.

  • Copy various files under the installation directory (default is C:\Python<version>)
  • Copy various files to the installation directory (default is C:\Program Files)
  • Start Menu Create an OpenRTM-aist folder below and set various shortcuts
  • Setting environment variables
  • Setting when using msi for 32 bit
 RTM_BASE=C:\Program Files (x86)\OpenRTM-aist\
 RTM_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.1.2\
 RTM_VC_VERSION=vc12
 RTM_JAVA_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.1.2\
 OMNI_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.1.2\omniORB\4.2.1_vc12\
 OpenCV_DIR=C:\Program Files (x86)\OpenRTM-aist\1.1.2\OpenCV2.4.11\
 OpenRTM_DIR=C:\Program Files (x86)\OpenRTM-aist\1.1.2\cmake\
  • Additional setting to PATH
    • Setting when using msi for 32 bit

 C:\Program Files (x86)\OpenRTM-aist\1.1.2\bin\vc12\ 
 C:\Program Files (x86)\OpenRTM-aist\1.1.2\omniORB\4.2.1_vc12\bin\x86_win32\ 
 C:\Program Files (x86)\OpenRTM-aist\1.1.2\OpenCV2.4.11\x86\vc12\bin\

We provide a script to check the setting of the installation environment. We will explain how to use the script and what you can check on the following page.

- Installation checking script

Files to be installed

The file is installed with the following structure.
Executing script to check the above setting of the installation environment saves the directory where Python is installed by the tree command and the OpenRTM-aist directory structure under Program Files to the log file As you do, you can check the details.

 <python_install_dir>
   + omniORB dll, various commands
   + rtcd, rtcprofile etc. OpenRTM-aist related commands
   |
   + Lib
   |  + site-packages
   |     + OpenRTM_aist: OpenRTM-aist Python module
   |        + RTM_IDL: IDL file
   |
   |     + omniORB related Python module

 <install_dir>
   + OpenRTM-aist
      + 1.x.x  :Old version runtime
      + <version>
         + bin: dll, lib, various commands
         + cmake: OpenRTMConfig.cmake
         + coil: coil header file
         + Components
            + CXX:
               + Examples: C ++ sample components
               + OpenCV: OpenCV C ++ Sample Component
            + Java: Java sample component
            + Python: Python sample component
         + etc: rtc.conf sample
         + ext: ComponentObserverConsumer
         + jar:
         + jre: OpenJDK JRE
         + omniORB
         + OpenCV
         + rtm: OpenRTM-aist header file
            + idl: OpenRTM-aist header file...
         + util
            + OpenRTP:
            + RTSystemEditor:
            + rtc-template:

When installation is finished, proceed to operation check.

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How to use windows_installer_test.bat?

(G)** What is windows_installer_test.bat

(G)This is a script to check the Windows environment settings where OpenRTM-aist is installed. It was created to check the OpenRTM-aist 1.1.2 version installation environment, but it can also be used in environments where previous versions are installed.
(G)The result is output to the log file just by executing the script by double-clicking, and the following contents can be confirmed.

  • (G)Confirmation of OpenRTM-aist installation
    • (G) If installed, write the directory structure by tree command to another file
  • (G)Check system environment variables
  • (G)Path confirmation
  • (G)Confirm installation of OpenRTM-aist-Python and rtshell
    • (G)If installed, write the directory structure by tree command to another file
  • (G)Check custom installation list

(G) Download

(G)You can download from the following location.

(G) windows_installer_test.bat | http://svn.openrtm.org/openrtm-msi-buildtool/trunk/openrtm_msi/test_scripts/windows_installer_test.bat |

(G)execute

(G)Double-click the downloaded windows_installer_test.bat file. The command prompt screen will be displayed during execution, but it will disappear when it is finished.

(G) Custom execution (using Cygwin)

(G)The installed directory structure is written to the log file using the tree command. & br; (G)If the Cygwin tree command is installed in the environment, adjust the following settings at the beginning of the script to the environment. If% CYGWIN_DIR% \ bin \ tree.exe does not exist, use the standard Windows tree command.

(G)When the Cygwin tree command is installed, the log “yymmdd-hhmmss_'Python directory'-dir.tree” of the installation directory structure of OpenRTM-aist-Python and rtshell becomes compact. This is because you can specify how many levels down the directory in the output specification. (G)Since the standard tree command for Windows cannot specify the hierarchy, all the structures from the top of the Python directory where OpenRTM-aist-Python is installed are targeted. Therefore, only the directory name is output to the log.

 set CYGWIN_DIR=C:\Cygwin64

(G)logfile

(G)All execution results are output to the log file. The output destination is under the log folder (created automatically if there is none) in the same directory as the script.
(G)You can use this script by running it on a USB memory and checking the results on another PC.

(G) Log file name Description
(G)yymmdd-hhmmss.log Main log file
(G)yymmdd-hhmmss_pfile.tree This is output when C: \ Program Files \ OpenRTM-aist exists. You can check the OpenRTM-aist directory structure using the tree command. & br; Even if the 64-bit version of OpenRTM-aist has already been uninstalled, this log file will be output if the directory remains because there are files such as rtc ***. log. The
(G)yymmdd-hhmmss_pfile_x86.tree This is output when C: \ Program Files (x86) \ OpenRTM-aist exists. You can check the OpenRTM-aist directory structure using the tree command. & br; Even if the 32-bit version of OpenRTM-aist has already been uninstalled, this log file may be output for the same reason as the 64-bit version.
(G) yymmdd-hhmmss_'Python directory'-dir.tree This is output when OpenRTM-aist-Python is installed. You can check the Python directory structure (G)where OpenRTM-aist-Python and rtshell are installed using the tree command. & br; If the installation destination is C: \ Python27, the log file name will be yymmdd-hhmmss_Python27-dir.tree.

(G)Output details

(G)Main log file

(G)Confirmation of OpenRTM-aist installation (Check Program Files folder)

(G)The directory existence of “C: \ Program Files \ OpenRTM-aist” and “C: \ Program Files (x86) \ OpenRTM-aist” is checked. Even if OpenRTM-aist has already been uninstalled, the directory will remain if files (rtc ***. Log, etc.) generated after installation exist. Even if the directory is “exist!”, If C ++, Python, Java Examples are “not installed”, this case can be considered. Check the tree file.

  • (G)Output example when 1.1.2 version is installed
    • (G) The result below shows that only 32bit version is installed
    • (G) The destination file of the directory structure of C: \ Program Files (x86) \ OpenRTM-aist is log \ 20160906-141617_pfile_x86.tree
    • (G)Version number 1.1.2 is obtained from RTM_ROOT setting

 *-*-*-*-*-*-* check OpenRTM-aist installed directory *-*-*-*-*-*-* 
 [[check]] "C:\Program Files\OpenRTM-aist" directory 
 --- not exist! 
 
 [[check]] "C:\Program Files (x86)\OpenRTM-aist" directory 
 --- exist! 
 --- RTM_VERSION = 1.1.2 
 
 Result ⇒ log\20160906-141617_pfile_x86.tree 
 --- C++ Examples (1.1.2) ⇒  installed 
 --- Python Examples (1.1.2) ⇒  installed 
 --- Java Examples (1.1.2) ⇒  installed

  • (G)Output example in an environment where only the 1.1.1 version is installed

 *-*-*-*-*-*-* check OpenRTM-aist installed directory *-*-*-*-*-*-* 
 [[check]] "C:\Program Files\OpenRTM-aist" directory 
 --- not exist! 
 
 [[check]] "C:\Program Files (x86)\OpenRTM-aist" directory 
 --- exist! 
 --- RTM_VERSION = 1.1 
 
 Result ⇒ log\20160906-133745_pfile_x86.tree 
 --- C++ Examples (1.1) ⇒  installed 
 --- Python Examples (1.1) ⇒  installed 
 --- Java Examples (1.1) ⇒  not installed

  • (G)Output example in 32bit OS environment
    • (G)In this environment, the path of `` C: \ Program Files (x86) does not exist, so `` This PC is 32bit OS. 

 *-*-*-*-*-*-* check OpenRTM-aist installed directory *-*-*-*-*-*-* 
 [[check]] "C:\Program Files\OpenRTM-aist" directory 
 --- exist! 
 --- RTM_VERSION = 1.1.2 
 
 Result ⇒ log\20160907-104846_pfile.tree 
 --- C++ Examples (1.1.2) ⇒  installed 
 --- Python Examples (1.1.2) ⇒  installed 
 --- Java Examples (1.1.2) ⇒  installed 
 
 --- This PC is 32bit OS.

(G)Check system environment variables

  • (G)Output example when 1.1.2 version is installed
 *-*-*-*-*-*-* check system environment variables *-*-*-*-*-*-* 
 RTM_BASE=C:\Program Files (x86)\OpenRTM-aist\
 RTM_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.1.2\
 RTM_VC_VERSION=vc12
 RTM_JAVA_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.1.2\
 OMNI_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.1.2\omniORB\4.2.1_vc12\
 OpenCV_DIR=C:\Program Files (x86)\OpenRTM-aist\1.1.2\OpenCV2.4.11\
 OpenRTM_DIR=C:\Program Files (x86)\OpenRTM-aist\1.1.2\cmake\
  • (G)Output example in an environment where only the 1.1.1 version is installed
    • (G)It can be confirmed that environment variables added in version 1.1.2 are not set in version 1.1.1

(G) Environment variable RTM_BASE is not defined (G) RTM_ROOT = C: \ Program Files (x86) \ OpenRTM-aist\1.1\ (G) RTM_JAVA_ROOT = C: \ Program Files \ OpenRTM-aist\1.1\ 

 OMNI_ROOT=C:\Program Files (x86)\OpenRTM-aist\1.1\omniORB\4.1.7_vc10\
 OpenCV_DIR=C:\Program Files (x86)\OpenRTM-aist\1.1\OpenCV2.4.9\
(G)Environment variable OpenRTM_DIR is not defined

(G)Confirmation of Path

  • (G)The parameters set by OpenRTM-aist and OpenCV settings are extracted
  • (G)Output example when 1.1.2 version is installed

 *-*-*-*-*-*-* check Path *-*-*-*-*-*-* 
 C:\Program Files (x86)\OpenRTM-aist\1.1.2\bin\vc12\ 
 C:\Program Files (x86)\OpenRTM-aist\1.1.2\omniORB\4.2.1_vc12\bin\x86_win32\ 
 C:\Program Files (x86)\OpenRTM-aist\1.1.2\OpenCV2.4.11\x86\vc12\bin\

  • (G)Output example when OpenCV is installed separately
    • (G)You can check the environment where OpenCV is installed (added to Path) prior to OpenRTM-aist
 *-*-*-*-*-*-* check Path *-*-*-*-*-*-*
 C:\distribution\opencv3.0.0\build\x86\vc10\bin 
 C:\Program Files (x86)\OpenRTM-aist\1.1\bin\ 
 C:\Program Files (x86)\OpenRTM-aist\1.1\omniORB\4.1.7_vc10\bin\x86_win32\ 
 C:\Program Files (x86)\OpenRTM-aist\1.1\OpenCV2.4.9\x86\vc10\bin

(G)Installation confirmation of Python, OpenRTM-aist-Python and rtshell

  • (G)Get the path where Python is installed from the registry and check if OpenRTM-aist-Python and rtshell are installed
  • (G)Environments with multiple versions of Python installed are also supported
  • (G)Output example when 1.1.2 version is installed
    • (G)If PYTHON_DIR \ omniidl.exe exists, it is determined that OpenRTM-aist-Python is installed
    • (G)If PYTHON_DIR \ Lib \ site-packages \ rtshell exists, rtshell is determined to be installed

 *-*-*-*-*-*-* check Python installed directory *-*-*-*-*-*-* 
 C:\Python27\ ----OpenRTM-aist-Python installed.  
 C:\Python27\ ----rtshell installed.  
 C:\Python27_x64\ ----OpenRTM-aist-Python not installed.  
 C:\Python27_x64\ ----rtshell installed.  
 C:\Python35_x64\ ----OpenRTM-aist-Python not installed.  
 C:\Python35_x64\ ----rtshell not installed.  
 C:\Python35\ ----OpenRTM-aist-Python not installed.  
 C:\Python35\ ----rtshell not installed.

(G)Check the installation directory of OpenRTM-aist-Python and rtshell

  • (G)Outputs the Python directory structure where OpenRTM-aist-Python is installed.
  • (G)Output example when 1.1.2 version is installed
    • (G)According to the above result, OpenRTM-aist-Python is not installed in C: \ Python27_x64 \, but rtshell is installed. (G)This environment is not covered.

 *-*-*-*-*-*-* check OpenRTM-aist-Python installed directory *-*-*-*-*-*-* 
 Result ⇒ log\20160906-141617_Python27-dir.tree

  • (G)Output example in an environment where OpenRTM-aist-Python 1.1.0 is installed
    • (G)This version was compatible with Python 2.6 and 2.7, so if both are installed, each log file will be output

 *-*-*-*-*-*-* check OpenRTM-aist-Python installed directory *-*-*-*-*-*-* 
 Result ⇒ log\20160906-171616_Python26-dir.tree  
 Result ⇒ log\20160906-171616_Python27-dir.tree

(G)Confirm custom installation

  • (G)When installing the installer, you can check the installation status when custom installation is selected
  • (G)Since version 1.1.2 or later is targeted, it will not be output to the log in the environment where only version 1.1.1 is installed.
  • (G)Output example when 1.1.2 version is installed
    • (G)If you select the default standard when running the installer, all modules from [1] to [15] will be installed. However, [12] is not installed when running the 64-bit version of the installer.
    • (G)When custom installation is performed, modules not selected are not output to the log
    • (G)Modules that are not selected for custom installation will still be installed

 *-*-*-*-*-*-* check Custom installed lists *-*-*-*-*-*-* 
 [1] C++ : Runtime Environment 
 [2] C++ : Development Environment 
 [3] C++ : Examples RTC 
 [4] C++ : OpenCV RTC 
 [5] OpenCV 
 [6] Python : Examples RTC 
 [7] Java : Runtime Environment 
 [8] Java : Examples RTC 
 [9] Tools : OpenRTP 
 [10] Tools : RTSystemEditorRCP 
 [11] Tools : JRE 
 [12] OpenRTM-aist old Runtime : 1.0.0 [x86 only] 
 [13] OpenRTM-aist old Runtime : 1.1.0 
 [14] OpenRTM-aist old Runtime : 1.1.1 
 [15] IDL

(G) tree file

  • (G)A file that saves the tree command execution results
  • (G)The extension is just tree so that it can be easily distinguished from the main log file. Check the contents with a text editor.
  • (G)Output example when 1.1.2 version is installed

(G) List of folder paths (G) Volume serial number is 9CF9-3755 

 C:\PROGRAM FILES (X86)\OPENRTM-AIST
 ├─1.0.0
 │  └─vc9
 │      └─bin
 │              coil.dll
   :
 └─1.1.2
     ├─bin
     │  │  cmakeconfgen.py

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