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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
Troubleshooting OpenRTM-aist (C++ edition, Python edition, and Java edition).
OpenRTM-aist (General)
OS-independent
A component which should be running seems to be dead.
[Cause] You cannot reach the host where the component was launched.
You may not have reached the host where the component was launched from the PC where RTSystemEditor is running for some reason. At first check whether pings from the PC where RTSystemEditor is running to the host where the component was launched are successful.
For example, there are three hosts A, B, and C:Networks among these hosts are set up like this:
[hostA]-(networkI)-[hostB]-(networkII)-[hostC]
In this case, if host B is not configured for routing between networkI and networkII, hostA is unreachable from hostC. You need to configure hostB in order to reach hostA from hostC.
[Cause] The firewall is enabled in the host where the component was
launched.
When the firewall is enabled in the host where the component was launched, this problem may occur. Please recheck the configuration or turn off the firewall to connect to the component externally.
Windows
"The installer has insufficient privileges to access this directory..."
is displayed while executing the installer, and it fails in the installation.
Please log on as a user who has the Administrator privilege to run the installer.
Components are not registered to the name service.
After launching the name server and components, I connect to the name server with RTSystemEditor, but the components have not been registered.
First, to increase the log level to the highest level, please add the following line to rtc.conf:
and launch the components.
If the following message cannot be found in the component's log, the registration of the name server is not complete:
In this case, the following causes are possible.
corba.nameservers is not set correctly in rtc.conf.
Please make sure that the rtc.conf the components load is set correctly. If you want to set the host name as openrtm.aist.go.jp, the line shown below must be included in rtc.conf.
Also, when you start the name server by specifying port number, you need to specify the port number in rtc.conf, too. If you specify 1234 as the port number when launching the name server, you need to set rtc.conf as follows:
If you do not specify the port number, the default port of 2809 will be used. This is the default port number of the omniORB name server (omniNames). If you use another name server than omniORB name server, set the port number appropriately.
The network of the host who launched the component and the host who launched the name server is not connected.
Please make sure you can connect from the host where the component was launched to the host where the name server was launched. First, confirm whether you can ping one computer from the other. If the ping does not succeed, please check the network configuration again.
Even if the ping succeeds, the connection may be prohibited by a firewall. First, please check the configuration of the host where the name server was launched. The easiest solution is to turn off the firewall. For more details, please refer to the configuration of each OS and firewall.
There are more than two network interfaces.
When there are more than two network interfaces, you need to specify to CORBA which interface to use. You should consider both the name server and the component.
Let's assume that each host has two interfaces and that the address for each interface is set as follows (the netmask is assumed to be 255.255.255.0):- Name server host: eth0:192.168.0.1, eth1:192.168.100.1
- Component host: eth0:192.168.0.2, eth1:192.168.11.96
In this case, the name server host and the component host should be connected by the 192.168.0 network, so you need to specify the interface:When launching the name server, you need set the environment variable OMNIORB_USEHOSTNAME on the name server side.
You may modify rtm-naming (Unix) or rtm-naming.bat (Windows) directly.
While you modify the configuration of corba.endpoint in rtc.conf on the component side, you can specify the interface to use.
You don't have to specify the port number, but please don't forget to add :(colon) after the IP address if you do.
OpenRTM-aist (C++ edition)
Windows
Application error "The application failed to initialize properly" is generated.
This error can appear when rtm-naming.bat is executed to start the name server. This error occurs because there is no VC++ runtime library in the execution environment. OpenRTM-aist (C++ edition) doesn't operate in the environment in which the VC++ (Microsoft Visual Studio and Visual C++ Express, etc.) runtime is not installed. Please install VC++ or the VC++ runtime. OpenRTM-aist (C++ edition) provides a VC8 (VS2005) version and a VC9 (VS2008) version. Install the Microsoft Visual C++ 2005 SP1 redistributable package when using OpenRTM-aist-X.X.X_vc8.msi, and the Microsoft Visual C++ 2008 redistributable package when using OpenRTM-aist-X.X.X_vc9.msi.
When building in Visual C++ 2005 Express Edition, the error "'windows.h': No such file or directory" is given.
When building in Visual C++ 2005 Express Edition, an error like this sometimes occurs:- 1. Microsoft Platform SDK is not installed.
Install the Microsoft Platform SDK.- 2. The include file path or the library path are not set up correctly.
There are some situations prevent the Visual C++ 2005 Express Edition compiler from finding the include or library files of the Microsoft Platform SDK, such as the Microsoft Platform SDK being installed in a different location to that of Visual C++ 2005 Express Edition. In this case, add the install directory of Microsoft Platform SDK to include the file search path and library search path to fix the problem.Refer to the Visual C++ 2005 Express Edition help for more details.
Error occurs by executing rtm-naming (Windows)
Libraries related to VC++ are not installed.
When applications such as Visual Studio 2005 are not installed, please install "Visual C++ 2005 Express Edition" from the Visual Studio 2005 Express Edition site.
rtm-naming cannot be executed
When rtm-naming.bat is executed, a black window (command prompt screen) opens and immediately closes.
[Cause] omniORB is not installed.
The name server, OmniNames.exe, of omniORB is started by rtm-naming.bat. Because OmniNames.exe is not installed if omniORB is not installed, the name server cannot be executed. Please download and install omniORB on the download page.
[Cause] A 2 byte character is included in the path of the log directory.
The name server of omniORB is started in rtm-naming.bat with:
An environment variable, %TEMP%, sets the user's temporary directory, typically to:
When the user name uses 2-byte character codes, such as Japanese names, omniNames cannot create the log file and exits.
To resolve this issue, use one of the following methods.- [Method 1] Do not use a Japanese user-name.
Add a user who doesn't use Japanese and use that user to execute rtm-naming.bat.Edit the file C:\Program Files\OpenRTM-aist\[version]\bin\rtm-naming.bat, changing the following line:
Ensure that the new log path does not contain 2-byte character codes and that the user has permission to write to that directory.
When the Java edition of OpenRTM-aist and the Java JDK are installed, start-orbd.vbs will be present in the Examples folder of the Start Menu. This starts the name server included in the Java CORBA system. It has no problems with 2-byte character codes.
unix
A download error occurs during package installation.
The automatic installer included in OpenRTM-aist checks for the existence of packages and their versions, and if appropriate packages are not installed, it downloads the packages from the download site of each package and installs them. Make sure your computer is connected to Internet to install with the automatic installer. Although your network connection is normal, when download errors still happen, it may be possible that the download fails because of network congestion, or locations or names of the files have been changed on the download site. In the first case, try automatic installation again after waiting some time. In the latter case, specify your target packages and download them individually to install manually, or modify the download links in the automatic installer and run it again. If there are changes in the download sites, please notify us.
Running configure quits due to errors
Most configuration errors happen when a required package cannot be found. When there is an error, make sure required packages are installed, and headers and libraries are installed in locations autoconf searches.
Errors occur during make
Launch the automatic installer of packages again and start over from package installation. If some error messages are shown during this process, install the specified packages manually and run configure. When configure ends without error messages, execute make again to finish the build.
The installation of OpenRTM-aist fails.
When an old version of OpenRTM-aist is not completely uninstalled, a new version cannot be installed. Please install it again after uninstalling an old version once.
Vine/Fedora/ubuntu/debian:
Please use "pkg_install_XXXX.sh" to uninstall.
Vine:
The old OpenRTM-aist can be uninstalled with the apt-get command:
Fedora:
The old OpenRTM-aist can be uninstalled with the yum command:
Ubuntu/Debian:
The old OpenRTM-aist can be uninstalled with the apt-get command:
When apt-get etc. is used, it asks for a CD
When apt-get, pkg_install_ubuntu.sh, and pkg_install_debian.sh are used on distributions such as Ubuntu and Debian, a CD might be asked for:
Press ctrl-c to interrupt installation when the message is displayed. When you do not have the CD, you can avoid this message with the following method:
1. Edit /etc/apt/sources.list.
The following lines are in /etc/apt/sources.list.
or
Comment out the line by inserting a # character at the start.
or
2. Re-install
Start the installation from the beginning.
Cannot run run.sh to start the SimpleIO sample
It may be because run.sh does not have the execution bit set. Set the execution bit, or pass the script to the shell directly.
The SimpleIO sample starts up, but does not work
The execution script of SimpleIO, run.sh assumes a terminal window is one of kterm, xterm, or gnome-terminal. Therefore when you use another terminal window, edit run.sh appropriately.
OpenRTM-aist (Python edition)
Windows
If I execute rtm-naming.py, omniNames shows a "usage:" message and exits
python.exe does not start
Add the Python installation folder (e.g. C:\Python26) to the PATH environment variable.
There may be several versions of python.exe in some environments where
Cygwin is installed. Since there may be several versions of python.exe in some environments where Cygwin is installed, even if the PATH environment variable is set up correctly, another version of python.exe that is different from the expected can be started. This sometimes causes failures caused by version differences in the two Pythons. Finding the exact cause can be extremely difficult. If you use an environment where Cygwin is installed, make sure python.exe is starting from the Python installation folder when you run OpenRTM-aist for Python.
The program exits showing the error message "MSVCP71.dll cannot be found"
This is an error because the WINDOWS\system32 folder does not have msvcp71.dll. Get msvcp71.dll from this URL:
Errors such as "Can't open file: ./rtc.conf" are displayed
If an rtc.conf file is not found in the same directory as the RT-Component or in the search path, the component cannot be started. The error appears as follows:
Components do not register with the name service.
If the new lines in rtc.conf are CRLF, you should remake rtc.conf. You can check using the file command:
OpenRTM-aist (Java edition)
OS-independent
Data transfer is slow
Data transfer speed might decrease considerably when a large amount of data is sent and received between RT-Components of the Java edition and RT-Components in other languages. This is often caused by data of 100KB or more. This is known to be a problem in Java's CORBA, and it is possible to avoid by setting the CORBA time-out appropriately. This can be set in rtc.conf:Therefore, 1:60000:300:1 means:
When a large amount of data is received, all the data cannot be acquired with a single read. In that case, it usually divides reads into portions. With the default value, the read thread will wait for 100ms, so it takes time to receive a large amount of data. Java's CORBA divides data into 100KB. When data that exceeds this is exchanged, you should add the above-mentioned setting to rtc.conf.
Windows
"java -version" shows a different version from the installed JDK.
When a newer version of the JRE (Java Runtime Environment) than the JDK is installed, even after you install the JDK, "java -version" sometimes shows the version of the JRE. We will describe how to set up against this problem.Unix
Important note for installing Java on FedoraCore
When java is installed by yum in FedoraCore, GCJ (The GNU Compiler for Java) is installed. GCJ can cause problems. Confirm whether Sun Microsystems Java is used when trouble occurs.