Installation of software required for development

RTC development requires installation of Python, CMake, Doxygen, and Visual Studio.

Visual Studio

It is necessary not only for developing the C ++ version, but also for building the installer when creating the Python version and Java version of the RTC. Install it by downloading from the link, or obtain and install Visual Studio 2015/2017/2019/2022 separately.

The latest version of Visual Studio that has been confirmed to work is 2022. 
I often forget to include the C ++ development environment. We recommend that you read the following instructions.


Python is used not only for developing the Python language version of RTC, but also for various tools of OpenRTM-aist, so it must be installed. Python supported by OpenRTM-aist is 3.7, 3.8, 3.9, 3.10, 3.11. We recommend that you install the latest version.

Please note the following points when installing.


CMake is required to automatically generate the files required for build (Visual Studio project file, Makefile on Linux, etc.) in various environments such as Windows and Linux.
Please install the latest version as much as possible.

Doxygen & Graphviz

Doxygen is a tool that automatically generates documents from comments such as source code.
Graphviz is a tool required to generate diagrams such as class diagrams when generating documents with Doxygen.
In OpenRTM-aist, various design information can be entered in RTCBuilder when designing RTC, and they are output as comments in the source code. By processing this with Doxygen, you can generate a beautiful RTC document.
Please install the latest version as much as possible.

During the installation, you will be asked what to do with the system PATH as the Install Options, but we recommend that you select Add Graphviz to the system PATH for all users. Download and execute the Windows version binary executable file from the web page.

After installation, run dot -v at the command prompt and check that the plugin information is displayed.

 >dot -v
 dot - graphviz version 7.1.0 (20230121.1956)
 libdir = "C:\Program Files\Graphviz\bin"
 Activated plugin library: gvplugin_dot_layout.dll
 Using layout: dot:dot_layout
 Activated plugin library: gvplugin_core.dll
 Using render: dot:core
 Using device: dot:dot:core
 The plugin configuration file:
        C:\Program Files\Graphviz\bin\config6
                was successfully loaded.
    render      :  cairo dot dot_json fig gdiplus json json0 map mp pic pov ps svg tk visio vml xdot xdot_json
    layout      :  circo dot fdp neato nop nop1 nop2 osage patchwork sfdp twopi
    textlayout  :  textlayout
    device      :  bmp canon cmap cmapx cmapx_np dot dot_json emf emfplus eps fig gif gv imap imap_np ismap jpe jpeg jpg json json0 metafile mp pdf pic plain plain-ext png pov ps ps2 svg tif tiff tk vdx vml xdot xdot1.2 xdot1.4 xdot_json
    loadimage   :  (lib) bmp eps gif jpe jpeg jpg png ps svg


Required when developing in Java versions of OpenRTM. Please see the explanation on the following page.

Install OpenRTM-aist

After installing the above software, install OpenRTM-aist.

Download installer

Download and execute "msi" file.

OpenRTM-aist-2.0.1-RELEASE_x86_64.msi MD5:057354e97e6dd531801a9ae435ed2abe 771MB
If you are using Microsoft Edge and cannot download, please see the explanation on the following page.

This installer contains the following.

  • Development environment for C ++
    • OpenCV4.4
    • Past versions of DLLs for C ++ (Required when running the old RTC)
  • Development environment for Python
  • Development environment for Java
  • omniORB4.2.5
  • OpenRTP (GUI tool, RTCBuilder,RTSystemEditor)
    • JRE8 environment (Required for OpenRTP)
  • VCVerChanger (GUI tool)
  • rtshell (CUI tool)


Please see the following page for details on the installation process. Try running the sample components to see if they are installed correctly. For details on system environment variables set by the installer, files to be installed, etc., see the following page.

Specify the version of Visual Studio

The system environment variable "RTM_VC_VERSION'' is set according to the installed version of Visual Studio. If you want to change it after installation, you can set it using GUI tools. See the VCVerChanger page for how to use it.

Visual Studio version Specified value of RTM_VC_VERSION
2015、2017 vc14
2019、2022 vc16 default

※Even if you do not change the version of Visual Studio after installation, check the system environment variable settings once with VCVerChanger. If there are any unnecessary paths left, delete them.


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