Installing to Raspberry Pi OS

Supported version

The version of Raspbian for which packages are currently available is

  • Buster (32bit)
  • Bullseye (32bit / 64bit)

SD card preparation

It is convenient to use Raspberry Pi Imager, a tool that can be downloaded from the official website, to write the OS image.
https://www.raspberrypi.com/software/

You can download and write by selecting the following.
  • Debian GNU/Linux version (Latest / Legacy)
  • With or without GUI (Desktop / Lite)
  • system architecture (32-bit / 64-bit)

Changes in 2.0 series

C++ can coexist in 1.2 series and 2.0 series. However, 1.2 series can only be installed on Buster(32bit).
With this support, the following changes have been made regarding installation.

  • Changed the name of the 2.0 series deb package
  • Python and Java cannot coexist in 1.2 series and 2.0 series(As of 2022/11/04, the Java version has not been released yet)
    • Use the bulk install script to automatically uninstall different installed versions
  • Separated 1.2 series and 2.0 series batch installation scripts
    • 1.2 series installation : pkg_install_raspbian.sh
    • 2.0 series installation : openrtm2_install_raspbian.sh

Installation script (both 1.2 series and 2.0 series) supports batch processing from download to installation.

Bulk installation script

To install 2.0 series, paste the following into the shell prompt and execute it. C ++ version, Python version, rtshell will be installed. Scripts are not saved locally.  

 $ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/openrtm2_install_raspbian.sh)

This will install the following packages: (For 32bit version)

 $ dpkg -l | grep openrt
 ii  openrtm2:armhf                     2.0.0-1                         armhf        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-dev:armhf               2.0.0-1                         armhf        OpenRTM-aist headers for development
 ii  openrtm2-doc                         2.0.0-1                         all          Documentation for openrtm2
 ii  openrtm2-example:armhf        2.0.0-1                         armhf        OpenRTM-aist examples
 ii  openrtm2-idl:armhf                 2.0.0-1                         armhf        OpenRTM-aist idls for development
 ii  openrtm2-python3                  2.0.0-0                         armhf        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-python3-doc            2.0.0-0                         all          Documentation for openrtm2-python3
 ii  openrtm2-python3-example     2.0.0-0                         armhf        OpenRTM-aist-Python examples

 $ pip3 list | grep aist
 OpenRTM-aist-Python 2.0.0
 rtctree-aist        4.2.3
 rtshell-aist         4.2.9
 rtsprofile-aist     4.1.5

The package details

The contents of each package are as follows.

openrtm2

openrtm2 contains a runtime library and a set of commands.

  • Command
     /usr/bin/rtcd2
     /usr/bin/rtcprof2
     /usr/bin/rtm-config2
     /usr/bin/rtm2-naming
  • Sample configuration file
     /usr/etc/rtc.conf.sample2
     /usr/etc/rtc.names.ssl.conf
     /usr/etc/ssl/rtc.ssl.conf
     /usr/lib/arm-linux-gnueabihf/pkgconfig/openrtm2.pc
  • Libraries, etc.
     /usr/lib/arm-linux-gnueabihf/libRTC2.a
     /usr/lib/arm-linux-gnueabihf/libRTC2.so.2.0.0
     ...
     /usr/lib/arm-linux-gnueabihf/librtmCamera2.so
     /usr/lib/arm-linux-gnueabihf/librtmManipulator2.so
    ...
     /usr/lib/arm-linux-gnueabihf/openrtm-2.0/ec/LogicalTimeTriggeredEC.so
     /usr/lib/arm-linux-gnueabihf/openrtm-2.0/local_service/FileNameservice.so
     /usr/lib/arm-linux-gnueabihf/openrtm-2.0/sdo/ComponentObserverConsumer.so
     /usr/lib/arm-linux-gnueabihf/openrtm-2.0/sdo/ExtendedFsmServiceProvider.so
     /usr/lib/arm-linux-gnueabihf/openrtm-2.0/sdo/LoggerConsumer.so
     /usr/lib/arm-linux-gnueabihf/openrtm-2.0/ssl/SSLTransport.so
     ...
     /usr/lib/arm-linux-gnueabihf/openrtm-1.2/sdo/LoggerConsumer.so.0.0.0
     /usr/lib/libfluent-bit.so

openrtm2-dev

contains the commands and headers needed for development.

  • Command
     /usr/bin/rtm-skelwrapper2
  • Header files
     /usr/include/coil-2.0/coil/Affinity.h
     /usr/include/coil-2.0/coil/Async.h
     ...
     /usr/include/openrtm-2.0/rtm/BufferBase.h
     /usr/include/openrtm-2.0/rtm/BufferStatus.h
     ...
     /usr/include/openrtm-2.0/rtm/config_rtc.h
     /usr/include/openrtm-2.0/rtm/idl/BasicDataType.hh 
     /usr/include/openrtm-2.0/rtm/idl/BasicDataTypeSkel.h
     ...
     /usr/include/openrtm-2.0/rtm/idl/SharedMemoryStub.h
     /usr/include/openrtm-2.0/rtm/version.h
  • Libraries and others
     /usr/lib/arm-linux-gnueabihf/openrtm-2.0/cmake/OpenRTMConfig.cmake
     /usr/lib/arm-linux-gnueabihf/openrtm-2.0/cmake/OpenRTMConfigVersion.cmake
     /usr/lib/arm-linux-gnueabihf/openrtm-2.0/py_helper/skel_wrapper.py
     /usr/lib/arm-linux-gnueabihf/openrtm-2.0/py_helper/yat.py

openrtm2-idl

  • idl files etc.
     /etc/profile.d/openrtm2-idl.sh
     /usr/include/openrtm-2.0/rtm/idl/BasicDataType.idl
     /usr/include/openrtm-2.0/rtm/idl/CameraCommonInterface.idl
     ...
     /usr/include/openrtm-2.0/rtm/idl/SharedMemory.idl
     /usr/share/openrtm-2.0/idl/BasicDataType.idl
     /usr/share/openrtm-2.0/idl/CameraCommonInterface.idl
     ...
     /usr/share/openrtm-2.0/idl/SharedMemory.idl

openrtm2-example

contains samples for standalone RTC and loadable RTC respectively.

  • Sample (Stand alone RTC)
     /usr/share/openrtm-2.0/components/c++/examples/CompositeComp
     /usr/share/openrtm-2.0/components/c++/examples/ConfigSampleComp
     ...
     /usr/share/openrtm-2.0/components/c++/examples/rtc.conf
  • Sample (Loadable RTC)
     /usr/share/openrtm-2.0/components/c++/examples/rtc/ConfigSample.so
     /usr/share/openrtm-2.0/components/c++/examples/rtc/ConsoleIn.so
     ...
     /usr/share/openrtm-2.0/components/c++/examples/rtc/Throughput.so

openrtm2-doc

contains Japanese and English class references and IDL interface definition references.

  • Class Reference (Japanese)
     /usr/share/openrtm-2.0/doc/c++/ClassReference/html/BufferBase_8h.html
     /usr/share/openrtm-2.0/doc/c++/ClassReference/html/BufferBase_8h__dep__incl.map
     ...
     /usr/share/openrtm-2.0/doc/c++/ClassReference/html/structSDOPackage_1_1Organization__impl_1_1sdo__id.html
  • IDL Reference (Japanese)
     /usr/share/openrtm-2.0/doc/idl/IDLReference/html/BasicDataType_8idl.html
     /usr/share/openrtm-2.0/doc/idl/IDLReference/html/BasicDataType_8idl_dep_incl.map
     ...
     /usr/share/openrtm-2.0/doc/idl/IDLReference/html/unionSDOPackage_1_1Numeric.html
  • Class Reference(English)
     /usr/share/openrtm-2.0/doc/c++/ClassReference-en/html/BufferBase_8h.html
     /usr/share/openrtm-2.0/doc/c++/ClassReference-en/html/BufferBase_8h__dep__incl.map
     ...
     /usr/share/openrtm-2.0/doc/C++/ClassReference-en/html/version_8h_source.html
  • IDL Reference(English)
     /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/BasicDataType_8idl.html
     /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/BasicDataType_8idl__dep__incl.map
     ...
     /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/unionSDOPackage_1_1Numeric.html

openrtm2-python3

  • Command
     /usr/bin/rtcd_python3
     /usr/bin/rtcprof_python3
  • Python module of OpenRTM-aist body
     /usr/lib/python3/dist-packages/OpenRTM_aist/* 
  • Python search path file for OpenRTM-aist
     /usr/lib/python3/dist-packages/OpenRTM-aist.pth 
  • utility
     /usr/lib/python3/dist-packages/OpenRTM_aist/utils/__init__.py
     /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtc-template/*
     /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtcd/*
     /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtcprof/*
     /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtm-naming/*

openrtm2-python3-example

 /usr/share/openrtm-2.0/components/python3/__init__.py
 /usr/share/openrtm-2.0/components/python3/component.conf
 /usr/share/openrtm-2.0/components/python3/rtcd.conf
 /usr/share/openrtm-2.0/components/python3/AutoControl/*
 /usr/share/openrtm-2.0/components/python3/AutoTest/*
 /usr/share/openrtm-2.0/components/python3/CSPSample/*
 /usr/share/openrtm-2.0/components/python3/CSPSelectSample/*
 /usr/share/openrtm-2.0/components/python3/CSPStaticFsmSample/*
 /usr/share/openrtm-2.0/components/python3/Composite/*
 /usr/share/openrtm-2.0/components/python3/ConfigSample/*
 /usr/share/openrtm-2.0/components/python3/ExtTrigger/*
 /usr/share/openrtm-2.0/components/python3/MobileRobotCanvas/*
 /usr/share/openrtm-2.0/components/python3/SeqIO/*
 /usr/share/openrtm-2.0/components/python3/Serializer/*
 /usr/share/openrtm-2.0/components/python3/SimpleIO/*
 /usr/share/openrtm-2.0/components/python3/SimpleService/*
 /usr/share/openrtm-2.0/components/python3/Slider_and_Motor/*
 /usr/share/openrtm-2.0/components/python3/Throughput/*
 /usr/share/openrtm-2.0/components/python3/TkJoyStick/
 /usr/share/openrtm-2.0/components/python3/TkLRFViewer/*

openrtm2-python3-doc

Install English/Japanese class reference.

  • Class reference
     /usr/share/openrtm-2.0/doc/python3/ClassReference-en/html/_async_8py.html
     /usr/share/openrtm-2.0/doc/python3/ClassReference-en/html/_buffer_base_8py.html
     ...
     /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_async_8py.html
     /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_buffer_base_8py.html
     /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_buffer_status_8py.html
     

Download

latest Releases : 2.0.0-RELESE

2.0.0-RELESE Download page

Number of Projects

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