rtshell provides commands used to manage individual RT components and managers, as well as complete RT Systems. It can be used with the OpenRTM-aist middleware or middlewares that use a compatible CORBA-based introspection system.

Many of the commands allow components and managers to run on nameservers to be treated like a file system. Directories can be entered, components can be cat'd and activated/deactivated/reset, connections made and removed, and so on.

Other commands are used in conjunction with RtsProfile XML/YAML files to manage complete RT Systems. These are rtresurrect, rtteardown, rtcryo, rtstart and rtstop.

The commands are aimed at users of OpenRTM-aist who wish to manage components on low-resource systems, systems where a GUI is not available (particularly where no network connection is available to manage components from another computer), as well as those who face other difficulties using RTSystemEditor. Being familiar with using a command-line is a benefit when using these commands of rtshell. Also, it is used to control the RT system by script like some shell script.

This software is licensed under the GNU Lesser General Public License version 3 (LGPL3). See LICENSE.txt.


  • rtctree is required.
  • rtsprofile is required.
  • Python 2.7 is required.
  • OpenRTM - Python - 1.0.0 or higher is required for rtprint, rtinject and rtlog.
  • omniORB-py 4.x or higher is required.
  • For installation from source, Sphinx is required to compile the document.


Please refer to the Install rtshell page for the installation method.


The latest source is stored in a Git repository at github, available at http://github.com/OpenRTM/rtshell. You can download from the link "Download ZIP" on that page. Alternatively, use Git to clone the repository.

 $ git clone git://github.com/OpenRTM/rtshell.git


The documentation is provided as a man page on Linux and is installed in /usr/local/share/man. In the case of Windows, it is provided by HTML format files and the English and Japanese versions are copied under the en and ja directories under <python directory>\Lib\site-packages\rtshell\data\doc\html respectively. It is also posted on this website.


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