Build from the source code (C++)

If you want to modify OpenRTM-aist itself and use it on Windows, you can get the source code of OpenRTM-aist and build it. Since CMake is supported from 2.0 series, the procedure is different from 1.2 series.

Required software and libraries
Command procedure at build/installation
Batch processing with script
- cxx_src_build.bat
Reference：Build script for msi generation

Required software and libraries

Following software is required.　For details, see Installation of OpenRTM-aist 2.0 series on Windows

Visual Studio
Python
CMake
Doxygen & Graphviz（If you also want to do a document build.）

You also need the omniORB library.

omniORB 4.2.5 (As of 2022/06）

The pre-built binary package provided by openrtm.org is available under the name omniORB-4.2.5-x64-vc14-pyXX.zip at the link below. Please replace it with the version of python to install XX, download the appropriate one, and extract it to a suitable location (C:\workspace\omniORB in the explanation below).

Binary package provided by openrtm.org

For more information on building with other libraries, see RT System Development (Advanced)・Build process of OpenRTM-aist(C++) by using CMake

Command procedure at build/installation

Get the source code. Check out the master branch for the latest OpenRTM-aist 2.0 source, and v2.0.0 for the 2.0.0 release source.

 git clone https://github.com/OpenRTM/OpenRTM-aist
 cd OpenRTM-aist
 git checkout -b v200-src refs/tags/v2.0.0

Specify the following in the CMake option and execute.

-DORB_ROOT : Downloaded and unzipped omniORB path
-G :Visual Studio version（"Visual Studio 17 2022" "Visual Studio 16 2019" etc.）
-DCMAKE_INSTALL_PREFIX : Installation path from source

 mkdir build
 cd build
 cmake -DORB_ROOT=C:/workspace/omniORB-4.2.5-x64-vc14-py310 -G "Visual Studio 17 2022" -DCMAKE_INSTALL_PREFIX=C:/workspace/openrtminstall ..

Then execute the following command. Finally, if you see the following, the build is successful.

 cmake --build . --verbose --config Release 
 The build was successful.
     0 Warnings
     0 Error

If the build is successful, complete the installation with the following command:

 cmake --build . --config Release --target install

Batch processing with script

I will introduce a script (cxx_src_build.bat) that batch processes from download of omniORB to source build and installation. It is executed by placing it under the OpenRTM-aist directory that has been git cloned.

 cd OpenRTM-aist
 cxx_src_build.bat > 1.log

When executing the script, specify only the three items "Visual Studio version", "Python version", and "Installation destination" according to the environment.

 set CMAKE_GENERATOR="Visual Studio 16 2019"
 set PY_VERSION=39　・・・ Specify one of 37, 38, 39, 310
 set INSTALL_PREFIX=C:\localRTM-test

cxx_src_build.bat

 @echo off
 @rem
 @rem ---------- Fit to the environment.   -------
 set CMAKE_GENERATOR="Visual Studio 16 2019"
 set PY_VERSION=39
 set INSTALL_PREFIX=C:\localRTM-test
 @rem ---------- Fit to the environment.  -------
 set OMNI_VERSION=4.2.5
 set VC_VERSION=vc14
 if exist %INSTALL_PREFIX% rmdir /s/q %INSTALL_PREFIX%
 @rem
 @rem Convert "\" in the path to "/"
 set current_dir=%~dp0
 set RTM_ROOT=%current_dir:\=/%
 set INSTALL_PREFIX=%INSTALL_PREFIX:\=/%
 @rem
 @rem omniORB download
 set base_omni_url="https://openrtm.org/pub/omniORB/win32/omniORB-%OMNI_VERSION%/"
 set OMNIORB_DIR=omniORB-%OMNI_VERSION%-x64-%VC_VERSION%-py%PY_VERSION%
 set OMNIORB_ZIP=%OMNIORB_DIR%.zip
 set OMNIORB_URL=%base_omni_url%/%OMNIORB_ZIP%
 if not exist %OMNIORB_ZIP% (
   powershell wget -O %OMNIORB_ZIP% %OMNIORB_URL%
 )
 if exist %OMNIORB_DIR% rmdir /s/q %OMNIORB_DIR%
 powershell Expand-Archive .\%OMNIORB_ZIP% -DestinationPath .\ 
 set OMNIORB_ROOT=%RTM_ROOT%/%OMNIORB_DIR%
 @rem
 @rem set cmake parameter
 set CMAKE_OPT=-DORB_ROOT=%OMNIORB_ROOT% ^
   -DCMAKE_INSTALL_PREFIX=%INSTALL_PREFIX% ^
   -G %CMAKE_GENERATOR% ^
   -A x64 ..
 call :CMAKE_Release
 exit /b
 @rem
 :CMAKE_Release
 if exist build-release rmdir /s/q build-release
 mkdir build-release
 cd build-release
 cmake %CMAKE_OPT% 
 cmake --build . --verbose --config Release
 cmake --install .
 cd ..
 exit /b

Reference：Build script for msi generation

Build script for creating msm (for vc2019, 2022) to be embedded in msi. I am using the following.

Boost libraryライブラリ 1.78.0
OpenSSL 3.0.1
Fluent Bit v1.8.9 Build from source

OpenRTM-aist has both Release/Debug builds. As for the binary of omniORB, there is no problem using the binary built with vc14, but the binary for vc16 is prepared and used.

 @echo off
 @rem
 set CMAKE_GENERATOR="Visual Studio 16 2019"
 set VC_VERSION=vc16
 set SSL_VC_VERSION=vc14
 set PY_VERSION=39
 set INSTALL_PREFIX=C:\localRTM
 set OMNI_VERSION=4.2.5
 set SSL_VERSION=3.0.1
 set BOOST_PATH=C:\local\boost_1_78_0
 set FLB_ROOT=C:\localFLB
 @rem
 if exist %INSTALL_PREFIX% rmdir /s/q %INSTALL_PREFIX%
 @rem ------------
 @rem Convert "\" in the path to "/"
 set current_dir=%~dp0
 set RTM_ROOT=%current_dir:\=/%
 set BOOST_PATH=%BOOST_PATH:\=/%
 set INSTALL_PREFIX=%INSTALL_PREFIX:\=/%
 set FLB_ROOT=%FLB_ROOT:\=/%
 @rem ------------
 @rem omniORB download
 set base_omni_url="https://openrtm.org/pub/omniORB/win32/omniORB-%OMNI_VERSION%/"
 set OMNIORB_DIR=omniORB-%OMNI_VERSION%-x64-%VC_VERSION%-py%PY_VERSION%
 set OMNIORB_ZIP=%OMNIORB_DIR%.zip
 set OMNIORB_URL=%base_omni_url%/%OMNIORB_ZIP%
 if not exist %OMNIORB_ZIP% (
   powershell wget -O %OMNIORB_ZIP% %OMNIORB_URL%
 )
 if exist %OMNIORB_DIR% rmdir /s/q %OMNIORB_DIR%
 powershell Expand-Archive .\%OMNIORB_ZIP% -DestinationPath .\
 set OMNIORB_ROOT=%RTM_ROOT%/%OMNIORB_DIR%
 @rem ------------
 @rem OpenSSL download
 set base_ssl_url="https://openrtm.org/pub/OpenSSL/%SSL_VERSION%"
 set OPENSSL_ZIP=openssl-%SSL_VERSION%-win64-%SSL_VC_VERSION%.zip
 set OPENSSL_URL=%base_ssl_url%/%OPENSSL_ZIP%
 if not exist %OPENSSL_ZIP% (
   powershell wget -O %OPENSSL_ZIP% %OPENSSL_URL%
 )
 if exist OpenSSL rmdir /s/q OpenSSL
 powershell Expand-Archive .\%OPENSSL_ZIP% -DestinationPath .\
 set SSL_ROOT=%RTM_ROOT%OpenSSL/build
 @rem ------------
 @rem set cmake parameter
 set CMAKE_OPT=-DRTM_VC_VER=%VC_VERSION% ^
   -DORB_ROOT=%OMNIORB_ROOT% ^
   -DCORBA=omniORB ^
   -DSSL_ENABLE=ON ^
   -DOPENSSL_ROOT=%SSL_ROOT% ^
   -DCMAKE_INSTALL_PREFIX=%INSTALL_PREFIX% ^
   -DWINDOWS_MSM_BUILD=ON ^
   -DBOOST_ROOT=%BOOST_PATH% ^
   -DFLUENTBIT_ENABLE=ON ^
   -DFLUENTBIT_ROOT=%FLB_ROOT% ^
   -G %CMAKE_GENERATOR% ^
   -A x64 ..
 call :CMAKE_Debug
 call :CMAKE_Release
 exit /b
 @rem ------------
 :CMAKE_Release
 if exist build-release rmdir /s/q build-release
 mkdir build-release
 cd build-release
 cmake %CMAKE_OPT% 
 cmake --build . --verbose --config Release
 cmake --install .
 cd ..
 exit /b
 @rem ------------
 :CMAKE_Debug
 if exist build-debug rmdir /s/q build-debug
 mkdir build-debug
 cd build-debug
 cmake %CMAKE_OPT%
 cmake --build . --verbose --config Debug
 cmake --install . --config Debug
 cd ..
 exit /b

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OpenRTM-aist