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latest Releases : 2.0.0-RELESE
2.0.0-RELESE | Download page |
Number of Projects
RT-Component | 153.5 |
RT-Middleware | 35 |
Tools | 22 |
Documentation | 2 |
Choreonoid
Motion editor/Dynamics simulator
OpenHRP3
Dynamics simulator
OpenRTP
Integrated Development Platform
AIST RTC collection
RT-Components collection by AIST
TORK
Tokyo Opensource Robotics Association
DAQ-Middleware
Middleware for DAQ (Data Aquisition) by KEK
Overview
If you want to use C++ language, CMake (cross platform make) system must be used to generate Makefile or Visual Studio project.
Then, you can edit your RTC's source code by modifying the callbacks.
Please follow the following steps:
CMake (Cross platform compilation)
You have to alternatives 1.cmake-gui, 2.cmake command-line.
CMake-GUI (Windows, Linux)
Open CMake-gui with Start Button (or cmake-gui command), and "drag & drop" the "CMakeLists.txt" file from your skeleton project folder.
In the "where to build" edit box, add "build" folder, and press "Configure" button.
Allow cmake to create "build" folder.
Select your Build environment. In Windows, Visual Studio 2008 / 2010. In Linux, Unix Makefile is normal selection.
Then, press "Generate" button to generate your project.
Finally, you can get the Visual Studio Solution file / Makefile in "build" folder.
Command Line (Linux)
% mkdir build
% cd build
% cmake ../
Editing Code
Let's edit the generated RTC's code.
How to find your skeleton code
The generated file tree is a bit complicated. Please follow this content, if you confuse to find your source code MyFirstRTC.cpp.
Visual C++ 2010 (Windows)
You can find many projects are associated with your solution. Do not mind.
Your RTC can be found in "myfirstrtc" project.
Please open the project tree, and select "MyFirstRTC.cpp" source code.
Unix Makefile (Linux)
You can find your RTC's skeleton code in "path-to-your-workspace/MyFirstRTC_cpp/src" directory.
Open the MyFirstRTC.cpp file with your favorite editor.
Override Callback Functions
In the MyFirstRTC.cpp, you can find lots of function declaration (but commented out).
If you edit the "activity tab" in RTC builder, the selected callback function will be uncommented.
In the previous step, you would have activated the following three functions:
1. onActivated
2. onDeactivated
3. onExecute
Please edit these functions.
onActivated
Example:
Documentation: