Installation on Ubuntu/Debian


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
  • Use the apt-get or synaptic package manager.

Installer script

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

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

Using apt-get

Edit sources.list 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 (code name) main
  deb (code name) main

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

version code name
Debian GNU Linux
Debian 7.0 wheezy
Debian 8.0 jessie
Debian 9.0 stretch
Ubuntu 14.04 trusty
Ubuntu 16.04 xenial
Ubuntu 16.10 yakkety
Ubuntu 17.04 zesty

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

Confirm installation

Check the install was successful using the following command.

 $ dpkg -l 'openrtm*'
 | 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 includes the Python modules and several commands.

  • Commands
  • Sample settings files
  • OpenRTM-aist Python modules
  • OpenRTM-aist utility modules


openrtm-aist-python-example contains sample components.

  • Samples

When installation is finished, proceed to operation check.


latest Releases : 2.0.0-RELESE

2.0.0-RELESE Download page

Number of Projects


Motion editor/Dynamics simulator


Dynamics simulator


Integrated Development Platform

AIST RTC collection

RT-Components collection by AIST


Tokyo Opensource Robotics Association


Middleware for DAQ (Data Aquisition) by KEK