(G)OpenRTM-aist consists of middleware libraries of various languages (C ++, Java, Python), tools such as RTCBuilder, RTSystemEditor, etc.
  • OpenRTM-aist (C ++, Java, Python version) LGPL and individual contract dual license
  • RTSystemEditor, RTCBuilder EPL and individual contract dual license

(G)We distribute it in open source format under the.

(G)LGPL (GNU Lesser General Public License) is a copyleft-type free software license released by the Free Software Foundation (FSF).

(G)EPL (Eclipse Public License) is one of "free software licenses" approved by FSF, it is a license form similar to CPL (partly LGPL) and the like and promotes commercial use more I will.

(G)These licenses are not (i) software that is distributed as a separate module or (ii) not a derivative of the program. In addition, the EPL license contains a clause concerning patents, and the patent owned by the contributor does not affect the software (the user is granted a patent license free of charge).

(G)For details of the LGPL license,

(G)Licenses and constraints based on concrete usage examples are explained below.

RT Component Development / Distribution

(G)The OpenRTM-ais license does not apply to individual RT components. Therefore, RT component creator can distribute / sell with free license '.

(G)The RT component is dynamically linked with (or RTC.DLL) of OpenRTM - aist, and the RT component itself can also be distributed as a shared object (or dynamic link library). Therefore, the RT component itself is not regarded as a derivative defined by the license, and it does not include the LGPL license.

license of RT component

(G)If you create and distribute RT components, you can distribute or sell RT components under any license and you can freely choose to open or close source code.

Reorganization and redistribution of OpenRTM-aist based on LGPL

(G)When using OpenRTM - aist published by AIS under the LGPL, AIST grants users a license to execute, reform, redistribute, and use OpenRTM - aist free of charge. However, when redistributing in LGPL, it is requested that the redistributing program be consistent with LGPL, including that the modified source code can be obtained by a third party I will. Therefore, when reorganizing and selling OpenRTM-aist under LGPL, it is required to disclose the source code.

(G)In embedded systems, there are many cases where it is difficult to apply it to the target without reconstructing the source code, which may be inconvenient for companies that want to commercialize the robot. In consideration of these cases, OpenRTM - aist is a dual license format so that it can take the form of licensing based on individual contract as described below.

Reorganization and redistribution of OpenRTM-aist based on individual contract

(G)As in the above cases, when commercializing the robot system, if you want to close the source code in order to prevent leakage of technology while reforming the source code, not to LGPL or EPL but to make a license for individual contract I can.

(G)When reorganizing and redistributing OpenRTM-aist by individual contract, after consultation with the intellectual property department of AIST, depending on the usage form, the degree of reorganization of source code, the ratio of intellectual property of both, etc., AIST You can grant non-LGPL / non-EPL licenses from users to users. We will discuss the source code usage fee (royalty fee) and the scope of licensing separately after consultation. However, AIST is a non-profit corporation aiming at industrial promotion, and it can be used with cheap implementation fee.

RT Middleware License

(G)We already have licensed individual contracts for RtcLink, RtcTemplate (RTSystemEditor, previous version of RTCBuilder) and OpenRTM - aist (Java version) for disclosure and implementation (source use) of source code.

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


Dynamics simulator


Human-Robot-Interaction RTCs


Integrated Development Platform


Mobile Robot RTCs