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How can I get the document which explain about the data type structure which is in the installed OpenRTM-aist.

Refer the followings:

• http://openrtm.org/doc/idl/1.1/idlreference_ja/index.html
• https://github.com/Nobu19800/DataTypeManual/wiki
  
  

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How can I debug by looking the data between ports?

Use rtshell commands like rtprint, rtinject, etc... Refer the following page.

http://www.openrtm.org/pub/OpenRTM-aist/tools/rtshell/3.0/ja/rtprint.html

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Can the communication bewtween different OSs ensure realtimeness?

You can make realtime RTC if the OS is realtime OS. However, you can not enusre realtimeness if you uses TCP/IP communication.

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