• Installer script
• Using apt-get
  • Edit sources.list
  • Install with apt-get
  • Confirm installation
• Package details
  • OpenRTM-aist-Python
  • openrtm-aist-python-example

deb packages for installing the Python edition of OpenRTM-aist on Debian GNU Linux and Ubuntu Linux are available. The supported Debian/Ubuntu versions are listed on the download page. The Debian/Ubuntu versions may change without notice.

There are two methods available for installing:

• Use the installer script provided by openrtm.org.
• Use the apt-get or synaptic package manager.

Installer script

Download the pkg_install_python_ubuntu.sh or pkg_install_python_debian.sh install script provided on the download page of openrtm.org and execute it with root permissions. This script will install the necessary dependencies using apt-get.

• Bulk installation script (Ubuntu)
• Bulk installation script (Debian)

Installing all the packages needed for development with OpenRTM-aist takes some work. For new users, using the install script is recommended. However, this will install all packages used by OpenRTM-aist, even though you may not need them. Expert users should consider installing manually using apt-get or synaptic.

Follow these steps to use the install script.

 > wget [pkg_install_python_???.sh download URL]
 > su
 # sh pkg_install1_python_ubuntu.sh
 // Answer "y" or "Y" to the questions to proceed.

Using apt-get

Edit sources.list

Openrtm.org provides a package repository for use with apt-get. This is not included in the default package repository, so it must be added to the apt-get settings by hand. Add one of the following lines to the file "/etc/apt/sources.list" (root permissions will be required):

 > su
 # vi /etc/apt/sources.list   # Edit "sources.list"

  deb http://www.openrtm.org/pub/Linux/ubuntu/ (code name) main

  deb http://www.openrtm.org/pub/Linux/debian/ (code name) main

"(code name)" is the code name of your version of Debian or Ubuntu Linux. It must be one of the following.

Install with apt-get

Next, run these commands to install OpenRTM-aist.

 > su
 # apt-get update
 # apt-get install python
 # apt-get install omniORB-servers omniORBpy omniORBpy-devel omniORBpy-standarda
 # apt-get install OpenRTM-aist-Python OpenRTM-aist-Python-example

Answer "y" or "Y" to the questions to proceed.

It is possible to freeze OpenRTM-aist at the installed version. To do so, edit the file "/etc/apt/preferences" and append the following lines (this example is for version 1.0):

 Package: OpenRTM-aist-Python
 Pin: version 1.0.*

For more details, see http://www.debian.org/doc/manuals/apt-howto/ch-apt-get.en.html#s-pin.

Confirm installation

Check the install was successful using the following command.

 $ dpkg -l 'openrtm*'
 Desired=Unknown/Install/Remove/Purge/Hold
 | Status=Not/Inst/Cfg-files/Unpacked/Failed-cfg/Half-inst/trig-aWait/Trig-pend
 |/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
 ||/ Name                     Version            Description
 +++-==========================-==============================================================================================
 ri  openrtm-aist-python        1.0.0-release0             OpenRTM-aist, RT-Middleware distributed by AIST
 ri  openrtm-aist-python-exampl 1.0.0-release0             OpenRTM-aist, RT-Middleware distributed by AIST

Package details

The packages contain the following files.

OpenRTM-aist-Python

OpenRTM-aist-Python includes the Python modules and several commands.

• Commands

   /usr/bin/rtcprof_python
   /usr/bin/rtcd_python

• Sample settings files

   /usr/lib/python<version>/dist-packages/OpenRTM_aist/examples/rtc.conf.sample

• OpenRTM-aist Python modules

   /usr/lib/python<version>/dist-packages/OpenRTM_aist/*

• OpenRTM-aist utility modules

   /usr/lib/python<version>/dist-packages/OpenRTM_aist/utils/rtcprof
   /usr/lib/python<version>/dist-packages/OpenRTM_aist/utils/rtcd
   /usr/lib/python<version>/dist-packages/OpenRTM_aist/utils/rtc-template
   /usr/lib/python<version>/dist-packages/OpenRTM_aist/utils/rtm-naming

openrtm-aist-python-example

openrtm-aist-python-example contains sample components.

• Samples

   /usr/share/OpenRTM-aist/examples/python/SimpleIO/
   /usr/share/OpenRTM-aist/examples/python/SimpleService/
   ...

When installation is finished, proceed to operation check.