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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
This page explains the procedure for checking the operation of RTC real-time process (RTP) built for VxWorks using the Workbench simulator.
(G)Setting up the simulator
Follow the procedure below to set up the simulator.
(G)Simulator connection
After selecting the simulator with Workbench Remote System, press connect 'xxxxx' button to connect with the simulator.
(G)RTC execution
(G)Launch Name Server
Start the name server on the VxWorks simulator. Since the name server starts up as a real time process (RTP), right click on the simulator from Remote Systems and click Run → VxWorks Real Time Process.
Please make various settings from the Launch Context tab of the Run Configurations window.
omniNames.out is generated in the omniORB build directory. If libc.so. does not exist in the path of the shared library, you will get an error, please copy it from the Workbench to the omniNames.out directory.
If you can not build RTP, do not start the name server in VxWorks, but register RTC on the name server on Ubuntu.
Arguments is the port number of the name server.
After setting is completed, click the [Run] button to start the name server.
(G)Starting RTC
Run rtcd.vxe in the same procedure as starting name server. rtcd.vxe is generated under utils / rtcd in the OpenRTM-aist build directory.
You do not need to enter anything in Arguments, but add - o corba.nameservers:192.168.200.254 to Arguments to start Ubuntu side name server. Please check the IP address of Ubuntu's tap 0 interface as appropriate.
Please check if RTC started in RT system editor started by Ubuntu. To the VxWorks name server, click the name service connection button, specify the IP address in the displayed window and click OK to connect.
Please check if the RTC started is registered.
Procedures such as RTC connection, activation, etc. are the same as when checking operation with Ubuntu.
(G)On command line operation
After connecting the simulator, you can enter commands from the Target Console window.
The operation of RTC can be confirmed with the following command. Please change the path of Workbench, omniORB, openRTM-aist accordingly.