Let's start OpenRTM-aist in 10 minutes!

The installer of OpenRTM-aist can install a necessary package such as C++, Python and Java language with one installer since 1.1.2-RELEASE.

Python 2.7 installation

If Python 2.7 is not installed, OpenRTM - aist can not be installed. Please install Python 2.7 first. OpenRTM-aist need Python 2.7. If you don't install pyhton yet, download and install python-2.7.10 before the intsalling OpenRTM-aist.

When installing, change the setting of "Add python.exe to Path" and select "Will be installed on local hard drive". & br; This will let Pthh pass through python.exe and Scripts. (Example: Path = C:\Python27\; C:\Python27\Scripts; ...)
python27_install.jpg


Installation of OpenRTM-aist

Here, we will introduce the procedure using the 32-bit installer OpenRTM-aist-1.1.2-RELEASE_x86.msi. To download the installer please see OpenRTM-aist-1.1.2-RELEASE.

  1. Please start the installer, and click "Next".

    install1.png


  2. The page of the use approval contract is displayed. Please check "Agree to the license", and click "Next".

    install2.png


  3. The page of the selection of the kind of the installing setup is displayed. Please click an item appropriate for you, and click "Next".

    install3.png


  4. The page of the selection of the kind of the setup is displayed. Please click "Typical".
    If you select "Typical", there are the following contents and packages installed. OpenRTM-aist (C++, Java, Python), OpenRTP, RTSystemEditorRCP, RTShell, OpenRTM-aist(C++) Runtime Environment for Visual Studio 2008 ~ 2015, OpenRTM-aist1.0.0 ~ 1.1.1 Runtime Environment


    install4.png


Typical All features will be available.
Custom Allows you to select which features will be available.
Complete All features will be available. The same as "Typical".


  1. Please click "Installation". The installation begins.

    install5.png




    install6.png


  2. The installation ended. Please click "Completion". The installer ends.

    install7.png
    Installation end screen



Note: If you use Visual Studio except for 2013 (vc12), set RTM_VC_VERSION environment variables.

Execution of sample components

You will start a lot of applications registered from here to Start menu.
Because it is troublesome to trace order from the start menu every time and to start the application, the following operation is recommended.


install8.png
ファイルの場所を開く


please show apps view, and Right click on OpenRTP of OpenRTM-aist-1.1.2. ant Click "Open file location". and then, move a one folder up.


install31.png

Start menu folder



The folder of the start menu is opened. It becomes easy to access various applications.

ConsoleInComp、ConsoleOutComp

ConsoleInComp and ConsoleOutComp are samples that showed the use of InPort and OutPort.Please input the numerical value from the screen of ConsoleIn. Then, ConsoleOut displays the numerical value that you input to ConsoleIn.

Start the name server

Please start Start Naming Service of [OpenRTM-aist 1.1.2]-[Tools].

install30.png

Start Naming Service



Start the sample components

After starting the name server, start some suitable components.



Please move a folder of [OpenRTM-aist 1.1.2]-[C++]-[Components]-[Examples]. And then, Start the ConsoleInComp.exe and ConsoleOutComp.exe executables, causing two consoles to open.

install29.png

ConsoleInComp.exe and ConsoleOutComp.exe



Start OpenRTP

The operation of OpenRTP is shown. Please click OpenRTP of [OpenRTM-aist 1.1.2]-[Tools]. OpenRTP starts.

If The workspace launcher dialog will be displayed, Choose a appropriate location.


install40.png

workspace launcher



Click [×] button of the [Welcome] tab.


install41.png

Start up



Click the perspectives button, and choose "RT System Editor". RTSystemEditor starts.


install42.png install43.png
switching perspective



note: Please add localhost by hand power when the name server is not displayed in NameServerView. Please click the add button of the name server of the image and put out the dialog. Please input as localhost, and click OK.


install44.png

Connecting to a name server



The name server running on localhost will appear in the Name Service View. Open the tree branches by clicking the arrows to find the two components you started.


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Components registered on the name server



Please click [OpenNewSystemEditor]. SystemDiagram is displayed.


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SystemDiagram



Please drag-and-drop the sample components of NameServiceView to SystemDiagram.


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drag-and-drop components



Please connect the components. Please drag-and-drop between the data ports. The dialog that presses the input of information necessary for the connection is displayed. Please choose push with DataflowTypeType and click OK.


install48.png install49.png
connect the components



The connection was completed.


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Please make the state of the component Activate. Please right-click in the component and select [Activate]. When the color of the component changes from blue into bright green, it is a success.


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Activate



Next, please confirm the operation on the console screen. When components are activated, "Please input number" is displayed in the console of ConsoleInComp.exe.


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ConsoleInComp.exeandConsoleOutComp.exe



Please input the numerical value to ConsoleInComp.exe and press 'Enter'. The numerical value is displayed in the console of ConsoleOutComp.exe.


install25.png install26.png



If the input other than the numerical value are input, it becomes an error (red). If a too large numerical value is input, it becomes an error (red). Please end the component pressing [Ctrl] key and [C] key at the same time on the console screen when the component occurs the error.

The confirmation of operation using ConsoleInComp.exe and ConsoleOutComp.exe ended by this.

Close Components after components are deactivated.


install53.png

Deactivate




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Close components



note: ※ If it takes time to deactivate, please stop entering ConsoleInComp.exe by entering the numerical value, so please enter something.

Use to rtshell

RTshell is installed with OpenRTM-aist-1.1.2.

RTShell provides commands used to manage individual RT components and managers, as well as complete RT Systems.

note: If you install rtshell for 64bit, 64bit might not work becase of a depend dll missing, Windows update start.

Operation RTC with RTshell

Start sample components

please start the sample components that ConsoleIn.py、ConsoleOut.py of [OpenRTM-aist 1.1.2]-[Python]-[Components]-[Examples]. ConsoleIn.py and ConsoleOut.py have the same work as ConsoleInComp.exe and ConsoleOutComp.exe.

Operation from the command prompt

Please start the command prompt.


install32.png

Start the command prompt



If python is not set to windows path yet, run this command line.

 set PATH=C:\Python27\Scripts;%PATH%

Next, connect the data ports of the components using a command like the following.

 rtcon /localhost/ConsoleIn0.rtc:out /localhost/ConsoleOut0.rtc:in

The following messages is displayed in the consoles of ConsoleIn.py and ConsoleOut.py.

 ------------------------------
 Listener:        ON_CONNECT
 Profile::name:   outin
 Profile::id:     4d622f80-135f-11e6-b923-001c4231a7a3
 ------------------------------


install36.png

Display data port connection



You will confirmed on RTSystemEditorRCP that the detaport is connected.


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Connected



Please run the following command line that RTC activate.

 rtact /localhost/ConsoleIn0.rtc /localhost/ConsoleOut0.rtc

If ConsoleIn.py success to activate, The console screen desplay "Please input number:".

You will confirmed on RTSystemEditorRCP that the components is activated.


install56.png

Activated



Input a number to the console of ConsoleIn.py then, the console of ConsoleIn.py display the number.

install38.png

ConsoleIn.py and ConsoleOut.py



Please run the following command line that RTC deactivate.

 rtdeact /localhost/ConsoleIn0.rtc /localhost/ConsoleOut0.rtc

note: If ConsoleIn keep to activate, input a number to the console of ConsoleIn, please.

Please run the following command line. The component is closed.

 rtexit /localhost/ConsoleIn0.rtc
 rtexit /localhost/ConsoleOut0.rtc

Next Contents

See the following link.



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

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OpenHRI

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OpenRTP

Integrated Development Platform

OpenINVENT

Mobile Robot RTCs