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latest Releases : 2.0.0-RELESE
| 2.0.0-RELESE | Download page |
Number of Projects
| RT-Component | 154 |
| RT-Middleware | 35 |
| Tools | 23 |
| 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
This section explains the execution context view.
In the Execution Context view, you can display a list of execution contexts (EC) to which the selected RTC belongs, start/end EC, execute action of RTC, attach/detach RTC to EC. You can also set the EC execution period.
EC owned by RTC is "owned*", EC with participation only is displayed as "participate*".
⑤
id: ID of EC. When online, context_handle is displayed as ID.
kind: EC type (PERIODIC/EVENT_DRIVEN/OTHER)
state: State of EC (RUNNING/STOPPING)
component_state: State of selected RTC on EC (ACTIVE/INACTIVE/ERROR)
owner: Instance name of this EC owner RTC
participants: Number of RTCs participating in this EC
In addition, any property set in EC is displayed.
The editing value of the execution rate is not applied until the [Apply] button of ⑥ is clicked. In addition, information being corrected (not applied) is displayed in light red. If the input value is incorrect, it will be displayed in red.
In the case of online editor, you can change the operation of EC and the state of RTC on that EC.
When you click the [Start] button, EC is started, the state of the property becomes "RUNNING", clicking the [Stop] button stops EC, and the state becomes "STOPPING".
To change the state of the RTC on the EC click the [Activate], [Deactivate] button. When activated, the component_state of the property becomes "ACTIVE", and when deactivated, the component_state becomes "INACTIVE".
If RTC enters the "ERROR" state for some reason, click the [Reset] button to restore it.
RTC can attach to multiple ECs.
Select the EC to which you want to add the RTC and click the [Attach] button to open the RTC selection dialog. In the selection dialog, a list of RTCs on the system editor is displayed.
After selecting RTC and clicking [OK], RTC is added to the EC, and a new EC is added to the participate EC list of the added RTC.
To cancel EC attachment, select EC of participate and click the [Detach] button.