OpenRTM-aist specifications

(G)OpenRTM-aist consists of RT component framework, RT middleware, basic RT component group, library, basic service group, basic tools group and so on. The RT component framework is the base class for creating RT components, and all RT components are created as subclasses of this base class. RT middleware is a part that loads modules of RT component created based on framework, management of life cycle such as creation and disassembly of instances, registration of components to name service, etc.

(G)At present, OpenRTM-aist supports C++, Python, Java languages, it can run on Windows, UNIX based OS, $ \ mu $ ITRON (C++ only) based OS. In addition, SEC Corporation has released OpenRTM-aist compatible middleware: OpenRTM.NET, and it can create and execute RTC in .NET environment including C #. RTCs that are created in different languages or operate on different OSs can be connected to each other and linked together.

(G)In addition to this, basic services (currently using CORBA's Naming Service) such as library and RT component registration search for improving user convenience, RTC Builder for generating RTC component model code, RT component connection / control It consists of a tool group such as RTSystemEditor which does the above.

Interface Specification

reference

Constitution

(G)OpenRTM-aist consists of the following middle language libraries and tools of each language version.

Configuration of OpenRTM-aist

Name Summary
OpenRTM-aist (C++ version) Component framework and middleware libraries and commands for creating RT components in C++ language
OpenRTM-aist (Python version) Component framework and middleware library and commands for creating RT components in Python language
OpenRTM-aist (Java version) Component framework and middleware library and commands for creating RT components in Java language
RTCBuilder Eclipse plugin for RT component design and code generation
RTSystemEditor Eclipse plugin for RT component operation and RT system design / operation
rtcshell / rtsshell command group for performing RT component and RT system operations from CUI

(G)Each of these distributions is distributed under the dual license of individual contract with EPL respectively.

Operating condition

OpenRTM-aist (C++ version)

Compiler gcc 3.x or higher, Visual C++ 2005, 2008
OS Linux, FreeBSD, Windows, Mac OS X, TOPPERS ASP
CPU i386, x86_64, ppc, arm
Dependent library omniORB 4.0 or higher, libuuid (Linux)

OpenRTM-aist (Python version)

Python Python 2.3 and higher
Dependent library omniORBpy - 2.3 or higher

OpenRTM-aist (Java version)

Java JDK 5 or higher
Dependent library Java IDL included in JDK

RTCBuilder/RTSystemEditor

Eclipse 3.4 or more
Java JDK 6 or higher
Dependent library Eclipse EMF 2.2 or higher (including SDO and XSD), Eclipse GEF 3.2 or higher (including Draw 2D)

rtcshell/rtsshell

Python Python 2.6 and higher
Dependent library omniORBpy - 2.3 or higher

latest Releases

For Begginers

Windows msi(installer) package (only trying samples)

Development environment is required for RT-Component development. See download page for details.

Number of Projects

OpenHRP3

Dynamics simulator

OpenHRI

Human-Robot-Interaction RTCs

OpenRTP

Integrated Development Platform

OpenINVENT

Mobile Robot RTCs