• Configuration file (rtc.conf)
  • Location of rtc.conf
  • Main setting items
• Command line option
  • -a: Manager service off
  • -f: Specify setting file
  • -o: Option specification
  • -p: Port number specification
  • -d: Master manager designation

Configuration file (rtc.conf)

The component manager reads the configuration file rtc.conf at startup. A configuration file is normally created with the name rtc.conf, but you can pass a configuration file created with any name.

Location of rtc.conf

rtc.conf is usually placed in the same directory as the RTC executable file (standalone component: xxxComp, xxxComp.exe executable RTC etc.) and its settings are loaded automatically. Alternatively, you can use the -f option to load a configuration file of arbitrary name. If rtc.conf is not in the same directory as the executable file or if it is not specified with the -f option, it reads rtc.conf placed on the system instead.

Reading priority of rtc.conf is set as follows.

On Linux / Unix

1. Command line option "-f"
2. Environment variable "RTC_MANAGER_CONFIG"
3. Default configuration file "./rtc.conf"
4. Default configuration file "/etc/rtc.conf"
5. Default configuration file "/etc/rtc/rtc.conf"
6. Default configuration file "/usr/local/etc/rtc.conf"
7. Default configuration file "/usr/local/etc/rtc/rtc.conf"
8. Embedded configuration value

For Windows

1. Command line option "-f"
2. Environment variable "RTC_MANAGER_CONFIG"
3. Default configuration file "./rtc.conf"
4. Default configuration file "%RTM_ROOT%/%RTM_VC_VERSION%/rtc.conf"

In Windows, rtc.conf (usually C:\Program Files\OpenRTM-aist\(version number)\(Version of VC) placed under the directory specified by the environment variables "RTM_ROOT" and RTM_VC_VERSION )) Is loaded.

Main setting items

Below are the setting options of rtc.conf which is often used. In addition to the following options, various options can be specified in rtc.conf. For details rtc.conf setting item list.

Settings related to name service

Items related to the setting of the naming service are as follows.

corba.nameservers

It is specified by host_name: port_number, the default port is 2809 (omniORB default).
Multiple servers can be specified, and server name delimiter is comma ",".

naming.formats

%h.host_cxt/%n.rtc →host.host_cxt/MyComp.rtc
Multiple designation possible.
If you want to be compatible with 0.2.0,
%h.host_cxt/%M.mgr_cxt/%c.cat_cxt/%m.mod_cxt/%n.rtc

naming.update.enable

“YES” or “NO”
Automatic update setting of registration to the naming service.
Register the name again when the name service starts up after starting the component.

naming.update.interval

Update cycle [s]. The default is 10 seconds.

timer.enable

“YES” or “NO”
Manager timer valid/invalid. It must be valid to use naming.update.

timer.tick

Resolution of timer [s]. The default is 100 ms.

Setting related to log output

logger.enable

“YES” or “NO”
Enable/Disable log output.

logger.file_name

Log file name.
%h: Host name, %M: Manager name, %p: Process ID usable

logger.date_format

Date format. It conforms to the notation of strftime (3).
Default : %b %d %H:%M:%S → Apr 24 01: 02: 04 |

logger.log_level

Log level： SILENT, ERROR, WARN, INFO, DEBUG, TRACE, VERBOSE, PARANOID.
Do not output anything (SILENT)~All output (PARANOID)
(*) Previously it could be used in RTC, but it can not be used now.

Settings related to execution context

exec_cxt.periodic.type

Specify the execution context to use.
at present, PeriodicExecutionContext, ExtTrigExecutionContext Can be used.
The default is PeriodicExecutionContext.

exec_cxt.periodic.rate

Other settings

corba.endpoint

IP_Addr: Specified by Port. When there are multiple NICs, it specifies the ORB to listen on.
: Is required even if Port is not specified.
Example: corba.endpoint: 192.168.0.12
Please specify when there are two NICs. (It may happen by chance even if not specified.)

corba.args

Argument for CORBA. For details, refer to omniORB manual.

[Category name].[Component name].config_file | [Category name].[Instance name].config_file | Component configuration file Category name: manipulator, component name: myarm, instance name myarm 0, 1, 2 ...

 manipulator.myarm.config_file: arm.conf
 Or
 manipulator.myarm0.config.file: arm0.conf

Command line option

For standalone components, or RTC daemon (rtcd), you can specify several options on the command line. The following table shows the command line options that can be specified.

show the detailed meaning of these options.

-a: Manager service off

Normally, to start RTC, the internal component manager instantiates or deletes the RTC. (To manage lifecycle) By default the server (servant) is started so that this manager can be controlled remotely. However, if you do not need to start the same RTC in the same process, start another RTC by loading another RTC module after starting, do not use the -a option You can suppress startup of the servant by specifying it.

-f: Specify setting file

With the -f option, you can give files of arbitrary names to standalone components or rtcd instead of rtc.conf.

 <Application example>
 ConsoleInComp -f consin.conf

-o: Option specification

With the -o option, you can give options that can be specified in rtc.conf from the command line. Options given with the -o option take precedence over those specified in rtc.conf, so if you want to temporarily overwrite the options specified in rtc.conf and change them, It is convenient to use the '-o' option. However, since it is passed as a command line option, blanks are recognized as argument breaks, so you do not need to include spaces or enclose it in single quotes or double quotation marks.

 <Application example>
 ConsoleInComp -o corba.nameservers:localhost,openrtm.org
 ConsoleInComp -o "corba.nameservers:localhost, openrtm.org"
 <Example not recognized correctly>
 ConsoleInComp -o corba.nameservers:localhost, openrtm.org
 '',(Comma)'' followed by a space, so openrtm.org is recognized as another argument.

-p: Port number specification

Using -p, you can specify the port number used by the RTC to be started. You may want to use this option if you want to start with a specific port number when RTC starts up. This option has the same hostname as the corba.endpoints: option and behaves the same as specifying only the port number.

 <Application example>
 ConsoleInComp -p 2810
 Same as below
 ConsoleInComp -o "corba.endpoints: :2810" 

-d: Master manager designation

With the -d option you can start the standalone component you started up and rtcd as daemon mode and master manager. The manager has a master and a slave, and the master normally waits for a request with fixed port number 2810 and delegates RTC activation etc. to the slave. When invoked with the -d option, the port number is fixed to 2810 by default, the manager servant is started in master mode, and the manager's reference is registered in the name service.