OpenRTM-aist C++ 1.1.1-RELEASE

  • RT-Components for versions 1.0.0 and 1.1.0 are compatible with each other. However, since the port connection rules have slightly changed, tools (for example RTSystemEditor) must support version 1.1.x.

Source Code

C++ source code OpenRTM-aist-1.1.1-RELEASE.tar.bz2
MD5: 1d030c4972618f2f1e81cf83286af1d0
C++ source code OpenRTM-aist-1.1.1-RELEASE.tar.gz
MD5: 67abe01eb0e8df1cd3efbcd1ca78108d
C++ source code (for Windows)
MD5: beedc1f16973eb6cc6c2bc7916bafeb7


Windows Installer

RT System Editor RCP or OpenRTP can be selected. JRE (OpenJDK) is also included.
The default setting is recommended in installing.


  • Download the appropriate version of Visual Studio.
Visual Studio 32bit用
Visual Studio 2008 OpenRTM-aist-1.1.1-RELEASE_x86_vc9.msi
MD5: d800c7fefea48965dcbdb43a0150245f
Visual Studio 2010 OpenRTM-aist-1.1.1-RELEASE_x86_vc10.msi
MD5: 8efd345ba871aa92f814cde6014e338f
Visual Studio 2012 OpenRTM-aist-1.1.1-RELEASE_x86_vc11.msi
MD5: def246f243be45df332d4caa0393267c
Visual Studio 2013 OpenRTM-aist-1.1.1-RELEASE_x86_vc12.msi
MD5: bdf6fd6dafcba9455e8e87d30db3c516
Visual Studio 32bit
Python (Needed for tools)
Python 2.7
PyYAML (Needed for tools)
CMake (To generate Visual C++ project) cmake-3.2.1-win32-x86.exe cmake
Doxygen (To generate documents) doxygen- doxygen
  • Python 2.7 is recommended if you use OpenRTM-aist Python version.


  • Download the appropriate version of Visual Studio.
  • The express edition of Visual Studio is not available to build 64bit version binaries.
Visual Studio 64bit
Visual Studio 2010 OpenRTM-aist-1.1.1-RELEASE_x86_64_vc10.msi
MD5: 4dc5ec26f83677b57ae70f9a35c96d9a
Visual Studio 2012 OpenRTM-aist-1.1.1-RELEASE_x86_64_vc11.msi
MD5: 4f3aa87e584b79eec3dc50f721f82b1c
Visual Studio 2013 OpenRTM-aist-1.1.1-RELEASE_x86_64_vc12.msi
MD5: 521a5c9a54b7002edf1a8e5d097e2cec
Visual Studio 64bit
Python-64bit (Needed for tools)
Python 2.7
PyYAML (Needed for tools)
CMake (To generate Visual C++ project) cmake-3.2.1-win32-x86.exe cmake
Doxygen (To generate documents) doxygen- doxygen

OpenRTM-aist x64 version needs Python 2.7 (x64).

Precautions for Windows installation

  • * Do not use multiple OpenRTMs with multiple versions of Visual Studio. Please select and install an appropriate package of your environment.
  • Please uninstall older version of OpenRTM-aist before installing version 1.1.1.
  • If you uninstall OpenRTM-aist 1.1.0, some files and menu icons in start menu would remain (C++/Python/Java)
  • You do not have to remove the remainder files of older version, but we recommend to remove them manually for your convenience.
    • Cautions for the manual remove
    • If multiple language versions are installed, please upgrade both language versions.
    • After uninstalling older OpenRTM-aist, please remove the following files:
      • C:\Program Files (x86)\OpenRTM-aist folder
      • Start Menu > Programs > OpenRTM-aist menu (Right click and delete)

Linux Packages

Currently, the following packages are available.
Please use the installer scripts to install dependencies at the same time.

Distribution Version Install Scripts
Ubuntu 12.04 (precise) i386/amd64
Ubuntu 14.04 (trusty) i386/amd64
Ubuntu 14.10 (utopic) i386/amd64
Ubuntu 15.04 (vivid) i386/amd64
Debian 6.0 (squeeze) i386/amd64
Debian 7.0 (wheezy) i386/amd64
Fedora 19 i386/amd64
Fedora 20 i386/amd64
Fedora 21 i386/amd64

If you already installed 1.1.0-RELEASE version, just upgrade it please.

In Ubuntu / Debian

 $ sudo apt-get update
 $ sudo apt-get upgrade

In Fedora

 # yum update

To download and install, please check HERE(C++).

Build from source code

To build OpenRTM-aist from source code, please check HERE (Windows) or HERE(Linux).

deb/rpm package creation

From version 1.1, generating the deb package (for Ubuntu, Debian) and rpm package (Fedora, Vine) is supported.
Please follow the following steps (Please install the dependencies before generating packages)

 $ tar xvzf OpenRTM-aist-1.1.1-RELEASE.tar.gz
 $ cd OpenRTM-aist-1.1.1
 $ ./configure --prefix=/usr
 $ cd packages
 $ make

The packages are created in packages directory.

* In Ubuntu, Debian, Install the tools with the command "dpkg-dev build-essential debhelper devscripts". In Fedora, do "rpm-build createrepo"


If OpenRTP is selected when installing OpenRTM-aist, you do not have to install these tools. If you want to install tools separately, please check OpenRTP 1.1.0-RC5.

Release note: 1.1.1-RELEASE

From OpenRTM-aist Official Website, Source Code Install, Windows Installer, and Linux packages are available with LGPL License or individual license (please contact us).

Chanages on Functionarities

    • Bug fixes

Changes on portabilities

    • For 64bitLinunx
    • For 64bitWindows
    • VC2012(32bit/64bit) Support
    • VC2013(32bit/64bit) Support

Changes on extensions

Changes on usabilities

    • WindowsインストーラでomniORBを4.1.7に更新
    • WindowsインストーラでOpenCVを2.4.9に更新し、IntelTBBで再コンパイル
    • WindowsインストーラでOpenCVを使ったサンプルコンポーネントImageCalib(GUIを持つ)を追加
    • WindowsインストーラでツールのRTSystemEditorRCP版とOpenRTPを選択可能にする
    • Windowsインストーラのスタートメニューでのツールを、各言語(C++,Python,Java)で共通にする
    • WindowsインストーラでOpenJDK7 JREのインストールを選択可能にする
    • debパッケージ作成でマルチアーチ機能へ対応
    • debパッケージ利用環境でOpenRTM-aist Pythonと共存時のアンインストール動作の見直し

Support (Build Tested) OSes

      • Debian 6.0-i386
      • Debian 6.0-x86_64
      • Debian 7.0-i386
      • Debian 7.0-x86_64
      • Fedora release 19 i386
      • Fedora release 19 x86_64
      • Fedora release 20 i386
      • Fedora release 20 x86_64
      • Ubuntu 12.04-i386
      • Ubuntu 12.04-x86_64
      • Ubuntu 14.04-i386
      • Ubuntu 14.04-x86_64
      • Windows-7
      • Windows-7 (64bit)
      • Windows-8.1
      • Windows-8.1 (64bit)


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


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