MICO_CCM

ccmd (mico-ccmd)

CCM daemon attached to MICO. ccmd installs components on a single host and manages the deployed components. Therefore, if you want to run components on multiple hosts you must run on each host. The mico-ccmd has ComponentInstallation, AssemblyFactory and ServerActivator interfaces (and services) implemented.

ComponentInstallation
On the host where mico-ccmd is running you can install the component implementation through the ComponentInstallation interface. Normally you install components with mico-ccmload.
AssemblyFactory
Assembly Factory allows you to launch assembly of components on demand.
ServerActivator
The component server can be launched on demand through the ServerActivator interface.

The deployment tool first communicates with mico-ccm, uploads the component implementation file, and launches componentserver on that host. (Do you create a process for each component?) Mico-ccmd is a daemon that normally operates in a permanent background, and does not do anything. If it receives an end signal (SIGINT, Ctrl-C), it terminates all assembly and component servers. Finally, delete all installed component implementations and exit.

Option

--root <pkgdir> The path to the directory where the component implementation to be installed is stored. If not specified, it is saved in the current directory.
--ior <filename> If you want to save mico - ccmd 's IOR in a file, specify the file name with this option. Output to standard output with a hyphen.
-v Redundancy option. Status messages such as start and stop of component server are output to standard output. (Does not conflict with ior? www)

Standard options of MICO ORB can also be used. With ORBIIOPAddr, it is possible to assign an ORB to a specific IP address (-ORBIIOPAddr hoge.aist.go.jp:1234 etc.). If the port is known, it is also possible to specify mico-ccmd with the object URL. Since the object key of mico-ccmd is "MicoCCMD"

 corbaloc::<host>:<port>/MicoCCMD
You can specify an object of ccmd with a URL like.

ccmload (mico-ccmload)

ccmload is a simple deployment tool that can place a single component. ccmload communicates with the MicoCCM daemon, launches a new component server, and loads new components. Then load the home <home name> from the shared library <library file> into the container. Optionally, you can also register home with name servers. <home name> needs to be the full name of the component home to be deployed. <library name> must be a shared library filename containing the implementation of <home name>. ccmload does not upload the shared library of the implementation, but the file name must be accessible by the MicoCCM daemon.

--ccmd <IOR> Give an object reference of MicoCCM Daemon.
--host <host>[:port] This option gives you the address and port of the MicoCCM daemon. When the port number is not specified, the default port is 1234.
--ns <name> Register the home to be deployed in the name server with the specified name.
--ior <filename> Write the object reference of the home being deployed to the specified file. Write out to standard output with a hyphen.
-v Redundant message output

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

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