• Supported version
• SD card preparation
• Changes in 2.0 series
• Bulk installation script
• The package details
  • openrtm2
  • openrtm2-dev
  • openrtm2-idl
  • openrtm2-example
  • openrtm2-doc
  • openrtm2-python3
  • openrtm2-python3-example
  • openrtm2-python3-doc
  • openrtm2-java
  • openrtm2-java-example

Supported version

The version of Raspbian for which packages are currently available is

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

• 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
  • 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

• Install JDK8・Other than obtaining the package from the repository

 $ 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                     2.0.1-0                         armhf        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-dev:armhf               2.0.1-0                         armhf        OpenRTM-aist headers for development
 ii  openrtm2-doc                         2.0.1-0                         all          Documentation for openrtm2
 ii  openrtm2-example:armhf        2.0.1-0                         armhf        OpenRTM-aist examples
 ii  openrtm2-idl:armhf                 2.0.1-0                         armhf        OpenRTM-aist idls for development
 ii  openrtm2-java:armhf               2.0.1-0                        armhf        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-java-doc                  2.0.1-0                        all          Documentation for openrtm2-java
 ii  openrtm2-java-example:armhf  2.0.1-0                       armhf        OpenRTM-aist-Java examples
 ii  openrtm2-python3                  2.0.1-0                         armhf        OpenRTM-aist, RT-Middleware distributed by AIST
 ii  openrtm2-python3-doc            2.0.1-0                         all          Documentation for openrtm2-python3
 ii  openrtm2-python3-example     2.0.1-0                         armhf        OpenRTM-aist-Python examples

 $ pip3 list | grep aist
 OpenRTM-aist-Python 2.0.1
 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/rtm2-config
   /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/rtm2-skelwrapper

• 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/rtcd2_python3
   /usr/bin/rtcprof2_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

openrtm2-java

 /etc/profile.d/openrtm-java.sh
 /usr/bin/rtcd2_java
 /usr/bin/rtcprof2_java
 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/License.txt
 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/LogicalTimeTriggeredEC.jar
 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/NameserviceFile.jar
 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/OpenRTM-aist-2.0.1.jar
 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/commons-cli-1.1.jar
 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/jna-4.2.2.jar
 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/jna-platform-4.2.2.jar
 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/rtcd.jar
 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/rtcprof.jar

openrtm2-java-example

Java版サンプルRTC、Classファイル、ソースファイル、起動スクリプト

 /usr/share/openrtm-2.0/components/java/* 
 /usr/share/openrtm-2.0/components/java/RTMExamples/AutoTest/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/Composite/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/ConfigSample/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/ExtTrigger/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/Fsm/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/control/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/model/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/view/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/MyService.idl
 /usr/share/openrtm-2.0/components/java/RTMExamples/SeqIO/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SeqIO/view/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SimpleIO/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SimpleService/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SinCosOut/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/StaticFsm/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/Throughput/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/TopicTest/*