• Source Code
• Packages
  • Windows installers
  • Note for the Windows installer
  • Linux Packages
  • Build from Source Code
• Tools
• Release notes: 1.1.0-RELEASE
  • Functionality changes
  • Compability changes
  • Loadable module changes
  • Usability enhancements
  • Supported operating systems

• 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

Packages

Windows installers

for Visual Studio 2008 (32bit)

for Visual Studio 2010 (32bit)

for Visual Studio 2010 (64bit)

• Two versions of Pythons (2.7(64bit), 2.6等(32bit)) required for OpenRTM for 64bit-VC2010.
  • 64bit Python2.7: omniORB's IDL compiler omniidl.exe requires 64bit-Python2.7. If you will develop RTC with service ports, you need it. Python2.7-64bit has bug? that it does not register its information in registry. You might face some problem, when you will install other python modules for it.
  • 32bit Python2.x (2.6 is recommended): rtc-template, rtm-skelwrapper (CORBA stub/skeleton wrapper generator) and other build tools need python. Any Python-2.x can be used for them. If you will install OpenRTM-aist for Python, same version of Python for openRTM-aist-Python is recommended.

Note for the Windows installer

• Visual Studio 2008 and Visual Studio 2010 binaries cannot be mixed. Please download the appropriate package.
• Java (JDK or JRE) is required for RTSystemEditor (RCP version), which is installed by the MSI installer.
  • Java download site

Linux Packages

The install script is provided for the following Linux distribution:

If you have already installed OpenRTM-aist 1.1.0-RC3, please delete it and do "apt-get update", and then, re-install.

 $ sudo dpkg -r openrtm-aist-doc openrtm-aist-example openrtm-aist-dev openrtm-aist
 $ sudo apt-get clean
 $ sudo apt-get update
 $ sudo apt-get install openrtm-aist openrtm-aist-doc openrtm-aist-example openrtm-aist-dev

Build from Source Code

From version 1.1, you can create deb/rpm packages for Ubuntu, Debian, Fedora, Vine, and other Linux.

 $ tar xvzf OpenRTM-aist-1.1.0-RELEASE.tar.gz
 $ cd OpenRTM-aist-1.1.0
 $ ./configure --prefix=/usr
 $ cd packages
 $ make

Your package will be found in "packages" directory.

Use the following scrpits to install related packages:

In Ubuntu, Debian, you should at first do "dpkg-dev build-essential debhelper devscripts".

Tools

Release notes: 1.1.0-RELEASE

Functionality changes

• Various bug fixes.
• Added many listener hooks into the behaviour of RTCs:
  • ComponentActionListener: Listen for changes in the RTC life cycle state machine.
  • PortConnectionListeners: Listen for changes to the connections on a port.
  • ManagerActionListener: Listen for changes in a manager.
  • ConfigurationListener: Listen for changes in a component's configuration.
  • ConnectorListener： Listen for activity in a specific connection.
• Added support to rtcd for loading Python and Java RTC profiles.
• Expanded the API for accessing Execution Contexts.
• Added support for adding SDO providers and consumers to components.
• Added support for milliseconds and microseconds to the log file time stamps.
• New properties, such as manager.auto_shutdown_duration.

Compability changes

• Various fixes for 64-bit Linux
• Various fixes for 64-bit Windows
• Support for Mac OS X
• Support for Linux and the RtORB
• Support for Cygwin and the RtORB
• Support for MacOS and the RtORB
• Support for Visual C++ 2010
• Support for CMake for building components

Loadable module changes

• Added an SDO interface for listening to component changes externally (ComponentObserver).
• Added an Execution Context supporting the Linux RT preemptive kernel.

Usability enhancements

• Changed the license from EPL to LGPL.
• Removed LaTeX documentation generation.
• Updated the comments and Doxygen-generated documentation.
• Support for creating deb packages.
• Support for creating rpm packages.
• Updated the install script to support Debian Lenny.
• Added OpenCV to the Windows installer.
• Added support for Windows Vista and Windows 7 to the RTSystemEditor RCP version.
• Added Korean and Taiwanese to the Windows installer.

Supported operating systems

• Fedora release 14 i686
• Fedora release 14 x86_64
• Fedora release 15 i686
• Fedora release 15 x86_64
• Fedora release 16 i686
• Fedora release 16 x86_64
• Ubuntu 8.04-i686
• Ubuntu 8.04-x86_64
• Ubuntu 11.04-i686
• Ubuntu 11.04-x86_64
• Ubuntu 11.11-i686
• Ubuntu 11.11-x86_64
• Ubuntu 12.04-i686
• Ubuntu 12.04-x86_64
• Windows-XP
• Windows-Vista
• Windows-7
• Windows-7 (64bit)