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latest Releases : 2.0.0-RELESE
| 2.0.0-RELESE | Download page |
Number of Projects
| RT-Component | 152 |
| RT-Middleware | 33 |
| Tools | 22 |
| Documentation | 2 |
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
Creating Composite Components
To create a composite component, first select more than one component. Then select Create Composite Component from the context menu.
PeriodicECShared
All RTCs will only share the execution context. The individual RTCs will have separate state, allowing multiple states to exist within a single composite component.
PeriodicStateShared
As well as sharing an execution context, the components will also share state.
Grouping
Nothing will be shared betweeen child components.
When creating a composite component, the child components that were selected in the system editor will disappear and a new composite component will take their place. Double-click on this new component, or right-click on it and select Open with System Diagram Editor to open the component's internals in a new system editor.
When saving the system structure, only one component diagram can be saved. Because of this, when displaying the internals of a composite component, any changes to the component diagram will not be saved.
Add Child Component
Open the composite component in a system editor and drag components from the name server view into it to add them as child components. Newly-added components start with all their ports private.
Delete Child Component
Open the composite component in a system editor and delete the unwanted child component. The child component will be removed from the composite component and displayed in the system diagram in which the composite component itself is displayed.
Deleting a Composite Component
Right-click on the composite component and select Delete to remove the composite component from the diagram. If the component is open in another system diagram, a warning dialog will be displayed.
Decomposing a Composite Component
Right-click on the composite component and select Decompose Composite Component. exit() will be sent to the component and the component will terminate. If the component is open in another system diagram, a warning will be displayed. The child components will be displayed in the system diagram in which the composite component was displayed.
Changing ports between public and private
When editing the internals of a composite component, the public ports of child components will be displayed using the following symbols.
To make a port private, right-click on it and select Unexport. To make a port public, right-click on it and select Export.
If a port is connected to another component, it cannot be made private until it is disconnected.