Motion editor/Dynamics simulator
Integrated Development Platform
AIST RTC collection
RT-Components collection by AIST
Tokyo Opensource Robotics Association
Middleware for DAQ (Data Aquisition) by KEK
If you want to use OpenRTM-aist by changing or rebuilding the source of OpenRTM-aist on a UNIX environment or a cross-development environment where no package is available, you can build from the source. This section describes how to get the source from the download page or repository and build OpenRTM-aist on Linux.
Build from the distribution source
OpenRTM-aist (C++ version) provides a build environment using autotools, so it can be built in various environments.
Supported OS and distribution
OpenRTM-aist has been confirmed to build it on the following Linux distributions:
On the other general Linux environments, you may be able to built OpenRTM-aist. (However, it is not confirmed)
Required tools and libraries
The following development tools and the libraries are required to build OpenRTM-aist-1.2.x from the source.
Please install according to the documentation of each library. If these are installed under standard directories (/usr, /usr/local, etc.), the subsequent compilation of OpenRTM-aist can be performed relatively easily.
For certain distributions such as Ubuntu and Fedora, there is a script "pkg_install_<OS name>.sh" that installs dependent libraries and OpenRTM packages that install necessary tools. The link below describes how to get it and command-line options.
By executing this script with the -c option, you can install the core (OpenRTM-aist itself) development tools. Run it or make you install the necessary tools separately.
Download the source
Download the OpenRTM-aist source. The source code can be downloaded by adding the version number tag to the URL https://github.com/OpenRTM/OpenRTM-aist/releases:The version 1.2.1 source code can be found at:
Source code development
First, unpack the source code OpenRTM-aist-X.X.X.tar.gz into an appropriate directory.
OpenRTM-aist uses autoconf and automake to build packages. The source code packages that can be downloaded using the above methods are those that have been configured using those tools in advance.
You may not need to specify [options], but if you want to make special settings, the options available in [options] are shown by:
This completes the build and installation from the source code.
Build using the source code on GitHub repository
OpenRTM-aist makes the github repository used for development publicly available. You can also build using the source code cloned from the repository.
Required toolsThe source code checked out of the repository does not contain a configure script or Makefile.in. To generate these, you need to install the following tools in advance:
To install these necessary tools and libraries such as OmniORB, you can use the Bulk installation script described above on Ubuntu and others. We recommend that you run this script in advance.
On Ubuntu, execute the package installation script pkg_install_ubuntu.sh recommended above as follows, to develop OpenRTM-aist itself (including build from the source) (including automake) It can be installed together.
Source clone from GitHub repository
Clone the source from the repository. If "git" is not installed, install it in advance. Then, type-in:
After cloning, a directory called OpenRTM-aist should have been created. Enter that directory.
configure & build
By executing autogen, there is "configure" in the OpenRTM-aist directory. From this point, the build is done by "configure & make" along with a standard build procedure from the source code.
By "make dist", you can create source package like which is distributed at openrtm.org. "make dist" also produces a source code package for Windows. Please note that "make dist" requires additional tools - doxgen, latex, and qkc, etc.