OpenRTM-aist C++ 1.2.2-RELEASE


Please refer to the following page for the installation procedure.


Windows Installer

The msi file is 800MB in size. Use a high-speed line (50Mbps or more) to download in minutes.

For 64bit

Windows Installer
(including OpenRTM-aist, C++, Python,
Java version and OpenRTP,
rtshell (4.2.2))
(Visual Studio 2012, 2013,
2015, 2017, 2019)
Python-3.6 python-3.6.8-amd64.exe
Python-3.7 python-3.7.9-amd64.exe
Python-3.8 python-3.8.5-amd64.exe
CMake cmake-3.18.1-win64-x64.msi cmake
Doxygen doxygen-1.9.2-setup.exe doxygen
  • * Install Python version "3.8", "3.7", or "3.6".
  • The above download link may be broken when the latest version of Doxygen is released. In that case, please go to the download page of doxygen and download and install the latest "doxygen-X.X.X-setup.exe".

For 32bit

Installer for Windows
Java version, and OpenRTP、
including rtshell(4.2.2))
(Visual Studio 2012、2013、
Python-3.6 python-3.6.8.exe
Python-3.7 python-3.7.9.exe
Python-3.8 python-3.8.5.exe
CMake cmake-3.18.1-win32-x86.msi cmake
Doxygen doxygen-1.9.2-setup.exe doxygen
  • ※Please install one of the version of Python "3.8", "3.7" or "3.6".
  • The above download link may be broken when the latest version of Doxygen is released. In that case, please go to the download page of doxygen: http and download and install the latest "doxygen-X.X.X-setup.exe".

For installation, Start OpenRTM-aist in 10 minutes! page for instructions.

Confirm installation

It is recommended that you confirm that you can create a Visual C++ project before the workshop.

First, start Visual Studio and click "File"-> "New"-> "Project".
Select Visual C++ for the template and select Empty project .


After entering the project name and clicking OK, a Visual C++ project is created.

If you cannot select Visual C++ , install "Desktop development with C++" according to the procedure of How to install Visual Studio Community 2019.

Also, when using other than Visual Studio 2019, it is recommended to confirm that you can create a Visual C++ project just in case.

How to use the old version runtime of C++ version

The old version runtime is installed under the OpenRTM-aist directory as 1.0.0 (only for 32bit), 1.1.0, 1.1.1, 1.1.2, 1.2.0, 1.2.1. Use the system environment variable "RTM_BASE" through the path.

Example) The 1.1.1 version vc12 runtime path can be specified as "%RTM_BASE%\1.1.1\vc12\bin".

How to handle when OpenRTP / RTSystemEditor is reduced in high resolution (HiDPI) mode such as Windows10

If you use a high resolution mode such as Windows 10, Eclipse icons etc. may be displayed in a reduced size. The following FAQ explains the solution.

Linux package

We currently offer packages in the following distribution versions:
You can use the installation script distributed below to install the required packages at once.

Distribution version Bulk installation script (right click to get URL)
Ubuntu 16.04 (xenial) i386 / amd64
Ubuntu 18.04 (bionic) amd64
Ubuntu 20.04 (focal) amd64
Raspbian Buster

By specifying options, you can now install packages that meet your needs.
※You can install the old version "1.2.1". You can also downgrade from "1.2.2" to "1.2.1".
Please refer to Bulk installation script for installation method, options and package types.

If you have already installed 1.2.1-RELEASE, you can update it.

Ubuntu / Debian

 $ sudo apt update
 $ sudo apt upgrade

Please see OpenRTM-aist (C++ version) 1.2 family installation for download method and installation method.

Source code

C++ source code OpenRTM-aist-1.2.2.tar.gz
C++ version Windows only source

Build from source

For details on how to build from source, see Building from Source (Windows) or Building from Source (Linux) .

Create deb / rpm package

From 1.1, the creation of deb packages for Ubuntu and Debian and rpm packages for Fedora from the above source code is officially supported.

You can create a package by following the steps below. When creating a package, use the bulk installation script (pkg_install_***.sh) to install the necessary packages in advance.

 $ tar xvzf OpenRTM-aist-1.2.2-RELEASE.tar.gz
 $ cd OpenRTM-aist-1.2.2
 $ ./configure --prefix=/usr
 $ cd packages
 $ make

Packages are created in the pacakges directory.

* Install tools such as "dpkg-dev build-essential debhelper devscripts" when creating deb packages on Ubuntu and Debian, and "rpm-build createrepo" before creating rpm packages on Fedora. Must be kept. These can be installed by executing Bulk installation script with the -c option.

Release notes

OpenRTM-aist Official Website can use source code, Windows installer, Linux package, etc. in dual license system which can be selected from LGPL license or individual contract with AIST.

Supported (build verified) OS

      • Ubuntu 16.04 i386, amd64
      • Ubuntu 18.04 amd64
      • Ubuntu 20.04 amd64
      • Raspbian Buster armhf
      • Windows-10 (32 / 64bit)


latest Releases : 2.0.0-RELESE

2.0.0-RELESE Download page

Number of Projects


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Dynamics simulator


Integrated Development Platform

AIST RTC collection

RT-Components collection by AIST


Tokyo Opensource Robotics Association


Middleware for DAQ (Data Aquisition) by KEK