Installation on Linux

Installation of OpenRTM-aist-Java

Operating condition

OpenJDK 7 or oracleJDK 7

Installation overview

The install process has three steps:

Java commands such as -java, javac will work → Java installation

Install Java

OpenRTM - aist - Java runs on JDK 7. For JDK for oracle target platform please refer to the following site etc.

Execute the installer

Refer to the JDK installation hints for tips on installing Java on various distributions. The Java installer must be executed as a superuser.

※ When installing Java on Fedora Core, be aware of the following issues:

 → ''FAQ:'' Installing Java on Fedora Core

 → ''FAQ:'' Q. An error appears in RTSystemEditor NameService View on Fedora Core

Test the installation

In a terminal, execute this command to test Java. If the Java version is displayed, the installation is complete.

 $ java -version

 java version "1.7.0_75"
 OpenJDK Runtime Environment (IcedTea 2.5.4) (7u75-2.5.4-1~trusty1)
 OpenJDK Client VM (build 24.75-b04, mixed mode, sharing)

Download and extract the zip file

Download the jar file and samples from here. Extract the zip file into a suitable location. The extracted location does not matter, but do not change the directory structure*. The "jar" directory in the extracted location must be added to the RTM_JAVA_ROOT environment variable.

  • If you wish to change the directory structure of the extracted files, refer here.

Setting environment variables

The environment variables should be changed in a file appropriate to your shell. For example, users of the bash shell should edit ".bashrc" in their home directory, while users of the csh shell should edit ".cshrc" in their home directory. If you wish to change the variable system-wide, edit the files in /etc/profile. Note that changing the variables for an individual user or system wide will affect how the GUI tools such as Eclipse should be started. See here for more information.

  • Variable:RTM_JAVA_ROOT
  • Value: Directory extracted from the zip file containing the "jar" directory. The "jar" directory contains the class library file (OpenRTM-aist-X.X.X.jar) and commons-cli-1.1.jar, and should be below a directory called "OpenRTM-aist\<version>". Be sure to include "OpenRTM-aist\<version>" in RTM_JAVA_ROOT.

For example, if the bash shell is in use and OpenRTM-aist-Java has been extracted to /usr/lib, the following line can be appended to .bashrc:

 export RTM_JAVA_ROOT=/usr/lib/OpenRTM-aist/<version>

To make this change active in the current shell, execute:

 source ~/.bashrc

or open a new shell.

Zip file contents

 +--<install_dir>
     +--OpenRTM-aist
        +--<version>
           +--jar
           +--examples
           +--JavaDoc
           +--JavaDocEn

jar

OpenRTM-aist-Java jar file and other necessary jar files.

  • jar/OpenRTM-aist-X.X.X.jar (X.X.Xはバージョン)
  • jar/commons-cli-1.1.jar
  • jar/rtcd.jar
  • jar/rtcprof.jar

examples

Sample class files and shell scripts to launch them.

  • Sample class files
     examples/RTMExamples/SeqIO/SeqIn.class
     examples/RTMExamples/SeqIO/view/SeqView.class
     examples/RTMExamples/SeqIO/view/RootPane.class
     examples/RTMExamples/SeqIO/view/SeqViewApp.class
     ...
  • Sample execution shell scripts
     examples/AutoTestIn.sh
     examples/AutoTestOut.sh
     examples/Composite.sh
     examples/ConfigSample.sh
     examples/Connector.sh
     examples/ConsoleIn.sh
     examples/ConsoleOut.sh
     examples/ExtConnector.sh
     examples/ExtConsoleIn.sh
     examples/ExtConsoleOut.sh
     examples/GUIIn.sh
     examples/MyServiceConsumer.sh
     examples/MyServiceProvider.sh
     examples/SeqIn.sh
     examples/SeqOut.sh
     examples/SinCosOut.sh
     examples/rtcd_java.sh
     examples/start-orbd.sh
  • Sample source code
     examples/RTMExamples/SeqIO/SeqInImpl.java
     examples/RTMExamples/SeqIO/SeqOut.java
     examples/RTMExamples/SeqIO/view/RootPane.java
     examples/RTMExamples/SeqIO/view/SeqView.java
     ...

JavaDoc

Contains the class reference as Javadoc HTML (Japanese).

JavaDocEn

Contains the class reference as Javadoc HTML (English).

Let's proceed to the confirmation so far operation check (Linux version).

Download

latest Releases

For Begginers

Windows msi(installer) package (only trying samples)

C++,Python,Java,
Toolsを含む
1.2.1-RELEASE

Development environment is required for RT-Component development. See download page for details.

Number of Projects

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Tokyo Opensource Robotics Association

DAQ-Middleware

Middleware for DAQ (Data Aquisition) by KEK