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latest Releases : 2.0.0-RELESE
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Number of Projects
| RT-Component | 153.5 |
| RT-Middleware | 35 |
| Tools | 22 |
| 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
The latest version OpenRTM-aist-1.2.1-RELEASE installs C++ version, Python version, Java version.
Also, rtshell will be installed at the same time.
(G)Advance preparation
(G)Installation of Python
If Python is not installed, OpenRTM-aist can not be installed.
Please install Python before installing OpenRTM - aist.
The Python version corresponds to "3.7", "3.6", "2.7".
To download Python please see OpenRTM-aist-1.2.1-RELEASE.
For Python 3.6 or 3.7 installations, check [add python *** to PATH] at the bottom of the first screen.
When installing, please set [Add python.exe to Path] to [Will be installed on local hard drive] on the following screen.This will automatically set Path for python.exe and Scripts. (Example: Path=C:\Python27\; C:\Python27\Scripts; ...)
(G) Installing OpenRTM-aist
Here, we will introduce the installation procedure using 32-bit installer OpenRTM-aist-1.2.１-RELEASE_x86.msi on Windows 10.
[Installation procedure]To download the installer please see OpenRTM-aist-1.2.1-RELEASE.
Set the version of Visual Studio used in the C++ version to the system environment variable.
Select the version of Visual Studio that is installed and click [Next].
(*) Please refer to OpenRTM-aist-1.2.1-RELEASE for downloading Visual Studio.
(*) The setting of the system environment variable RTM_VC_VERSION can be changed with VCVerChanger after the installation is completed.
((How to use VCVerChanger)
(*) Since it is irrelevant in the Python version and Java version, please click [Next] with default.
OpenRTM-aist a runtime library from Visual Studio 20１０ to 2017 of OpenRTM-aist's C++, Java, Python, OpenRTP, RTSystemEditorRCP, rtshell, OpenRTM-aist-C++ versions of OpenRTM-aist. Runtime libraries from 1.0.0 to 1.2.1 will be installed. If you do not seem to have any particular reason for change, click [Standard]. & br;...
(G)Run sample components
Although not required, from here we will launch many applications registered in the start menu. Since it is hard to trace in turn from the start menu every time, Please display the start menu from the start button, right click on [OpenRTM-aist 1.2.1 x86_64] > [OpenRTP] and select [Open file location].
In this way, the folder of the start menu is opened, making it easy to access various applications.
(G)Starting rtm-naming
Click Start Naming Service. The following console screen is displayed.
(G)Using ConsoleInComp, ConsoleOutComp
ConsoleInComp, ConsoleOutComp is a sample showing how to use DataInPort and DataOutPort. The number entered on the ConsoleIn side is displayed on the ConsoleOut side.(G)Starting sample components
ConsoleInComp and ConsoleOutComp are samples that show how to use DataInPort and DataOutPort. The number entered on the ConsoleIn side is displayed on the ConsoleOut side. Here we use these two components to check the operation.
Double-click ConsoleIn.bat and ConsoleOut.bat in the [OpenRTM-aist 1.2.1 x86_64]> [C ++ _ Example] folder. If the [Windows Security Alert] screen is displayed, check [Private network (home network, internal network, etc.)] and click [Allow access (A)]. The following console screen is displayed.
(G)OpenRTP startup
Click on the desktop shortcut to launch it. In the start menu, select [OpenRTM-aist 1.2.1 x86_64]> [OpenRTP]. You can also start it by double-clicking OpenRTP from the folder screen you opened earlier.
Please specify a suitable place for the workspace.
Since the "Welcome" screen is not necessary at the moment, please click the [×] button on the [Welcome] tab in the upper left to close the screen.
Using RTSystemEditor
Click [Open Perspective] in the upper right of the screen. Select [RT System Editor] in the displayed dialog and click [Open] to start RTSystemEditor.
The component is displayed in NameServiceView. Although it is not displayed because it is folded at the beginning, you can check ConsoleIn and ConsoleOut components by clicking [>] and expanding.
(*) If name server is not displayed in NameServerView, add localhost manually. Click [Add Name Server] in the image to display the dialog. Enter 'localhost' and click OK to add it. If it still does not start, close all console screens and try the procedure from starting Naming Service again.
Click Open New System Editor from the toolbar to display SystemDiagram.
If you drag and drop the ConsoleIn and ConsoleOut components in the NameServiceView onto the System Diagram, it will look like the image below.
Drag and drop between data ports to connect the components. After that, a dialog prompting you to enter necessary information for the connection is displayed, and click [OK].
It is connected as shown in the image below.
Activate the state of the component. [All Activate] Please click. It will be successful if the color of the component changes from blue to light green. Components can also be individually selected to Activate.(If [All Activate] is not displayed, try restarting Openrtp. Alternatively, you may activate individual components.)
(G)Operation check on the console screen
Next, check the operation on the console screen. After connecting with RTSystemEditor, "Please input number:" will be displayed on the ConsoleIn screen.
When entering an arbitrary numerical value on the ConsoleIn screen and pressing [Enter], the numerical value is displayed on the ConsoleOut screen.
(*) If you enter a value other than a number or a number that is too large, the operation may become strange. In that case, stop the operation of the batch file with the Cntrl-C key and try again from the start of the batch file.
To exit the component, click [All Deactivate] from the toolbar. Then right-click the component and [Exit].
(*) If it takes time to deactivate, please stop entering the numerical value of ConsoleIn, so please enter something.
Confirmation of operation using ConsoleIn and ConsoleOut is now complete.
(G)Using rtshell
In OpenRTM - aist - 1.2.1, rtshell is installed as a standard. RTts can be activated, deactivated, terminated, etc. from the command line by using rtshell.
(*) When you install 64bit version, it may not be able to operate due to lack of dll. In that case please run Windows Update.
(G)RTC operation
Activate the sample component, connect the data port from the command line with rtshell, activate, deactivate, and terminate the RTC.
(G)Start rtm-naming
Click the Start Naming Service in the [OpenRTM-aist 1.2.1 x86] folder to start it.
(G)Starting sample components
First, start the sample component and operate the started component with rtshell. Click on ConsoleIn.bat and ConsoleOut.bat in the [OpenRTM-aist 1.2.1 x86] > [Python_Examples] folder to launch the console screen. If the [Windows Security Alert] screen is displayed, check [Private network (home network, internal network, etc.)] and click [Allow access (A)]. At this point, only the startup command of the py program at startup is displayed on the console screen, and the screen output is different from the case of C ++ Example that was executed earlier.
(G)Operation from command prompt
Next, start [Windows system tool] > [command prompt] from the start menu.
First, if you have not set a path in C:\Python27\Scripts, set the path with the following command.
Next, connect the data port with the following command.
Then the following strings are displayed in ConsoleIn.py, ConsoleOut.py console.
Just to be sure, check with RTSystemEditor.
By dragging and dropping the NameServiceView component onto the System Diagram, you can confirm that the data port is connected.
Next, activate RTC with the following command.
If activation is successful, "Please input number:" will be displayed on the ConsoleIn.py console. Looking at RTSystemEditor, you can confirm that RTC has been activated.
Then, enter the value on the ConsoleIn.py screen and press [Enter], the number will be displayed on the ConsoleOut.py screen.
Deactivate RTC with the following command.
(*) If ConsoleIn can not be deactivated, please enter a numerical value because it is stopped by entering a numerical value.
Finally, please terminate RTC with the following command.
(G)Next. . .
Please see the link below.