The latest version, OpenRTM-aist-2.1.0-RELEASE, installs the C++, Python, and Java editions, as well as OpenRTP and rtshell.

Prerequisites

Installing Python

If Python is not installed, OpenRTM-aist cannot be installed.

Please install Python before installing OpenRTM-aist. Supported versions are "3.14", "3.13", "3.12", "3.11", and "3.10".

For downloading Python, please refer to: Installing OpenRTM-aist 2.1 on Windows

The Python installation location corresponds to the [Customize installation] option during installation.

Configure the search path automatically using the following procedure. This will add both the directory containing python.exe and the Scripts directory to the PATH environment variable.
(Example: Path=C:\Python313;C:\Python313\Scripts;...)

[Installation Procedure]

• Launch the Python installer. Version 3.13 is used as an example here.
• On the first screen, check [Add Python *** to PATH] at the bottom, then select [Customize installation].
  

• No changes are required on the [Optional Features] screen. Click [Next] to continue.
  

• On the [Advanced Options] screen, check [Install for all users] and specify the installation location in [Customize install location]. (Example: Path=C:\Python313;C:\Python313\Scripts;...)
  

• Click [Install] to complete the installation.

Downloading OpenRTM-aist

For downloading the installer, please refer to:

Download

If you are using Microsoft Edge and cannot download the installer because of the message shown below, follow these steps:

• Click the "..." button displayed when you hover over the download item.
  

• Click "Save".
  

• Click the checkmark next to "Delete", then click "Keep" from the menu that appears.
  

• The download is now complete. Click "Open file" to launch the installer.

Installing OpenRTM-aist

[Installation Procedure]

1. Launch the installer and click [Next].
   
   
   

1. This is the license agreement page. Accept the software license terms and click [Next].
   
   
   

1. Select the installation type. Leave the default settings and click [Next].
   
   
   

1. Select the setup type.

Click [Typical] to install all features.

1. Installation is complete. Click [Finish] to exit the installer.
   
   
   

Checking system environment variables

We have confirmed that there are cases where nested environment variables are not recursively expanded, but this can be resolved with the VCVerChanger tool. Please see the page below for details.

• Checking system environment variables

Running Sample Components

This section explains how to verify the connection and operation of two RTCs using the RTSystemEditor feature of OpenRTP.

Starting OpenRTP

• Launch OpenRTP by clicking the desktop shortcut.
  
  Starting OpenRTP

• Select any convenient location for the workspace.
  
  Selecting a Workspace

• The Welcome screen is not required. Click the [×] button on the [Welcome] tab in the upper-left corner to close it.
  
  Initial Startup Screen

Using RTSystemEditor

• Click [Open Perspective] in the upper-right corner of the screen.

In the dialog that appears, select [RT System Editor] and click [Open] to launch RTSystemEditor.

• When starting for the first time, a dialog saying "Failed to start the toolbar." may appear.

Follow the instructions, close OpenRTP, and start it again.

• Click the Name Service startup button to start the localhost Name Server.
  
  Starting the Name Service

Starting C++ ConsoleIn and ConsoleOut

• In the Windows search box, type "c++_e" (lowercase letters are acceptable). When the C++_Examples entry appears, click it.
  
  Select C++_Examples

• A list of C++ sample RTCs will be displayed. Double-click ConsoleIn and ConsoleOut to launch them.
  
  Starting ConsoleIn and ConsoleOut

• After startup, console windows similar to the following will be displayed.
  
  ConsoleIn.bat and ConsoleOut.bat

• Click [Open New System Editor] on the toolbar to display the [System Diagram].
  
  Displaying the System Diagram

• Drag and drop the ConsoleIn and ConsoleOut components from [NameServiceView] onto the [System Diagram]. They will appear as shown below.
  
  Dragging and Dropping Components

• Connect the components by dragging and dropping between their data ports.

A dialog requesting the information required for the connection will appear. Click [OK].

• The components will be connected as shown below.
  
  Connection Complete

• Change the component state to Active by clicking [All Activate].

If the component color changes from blue to light green, the activation was successful.

You can also activate components individually by selecting a component, right-clicking it, and choosing the activation command.

(If [All Activate] is not displayed, try restarting OpenRTP. Alternatively, you may activate each component individually.)

Verifying Operation from the Component Console Windows

• Next, verify the operation using the console windows.

After connecting the components in RTSystemEditor, the message "Please input number:" will be displayed in the ConsoleIn window.

• Enter any numeric value in the ConsoleIn window and press [Enter].

The entered value will be displayed in the ConsoleOut window.

• Entering non-numeric values or excessively large numbers may cause unexpected behavior.

In such cases, stop the batch file by pressing Ctrl-C, then restart the procedure from launching the batch files again.

• To terminate the components, click [All Deactivate] on the toolbar.

After that, right-click each component and select [Exit].

• If deactivation takes a long time, ConsoleIn is likely waiting for numeric input.

In that case, enter any numeric value.

• This completes the operation verification using ConsoleIn and ConsoleOut.

Using rtshell

rtshell is installed as a standard component of OpenRTM-aist.

By using rtshell, you can Activate, Deactivate, Exit, and perform other RTC operations from the command line.

Please refer to:

Installing and Verifying rtshell (Windows)

Next Steps...

Please see the links below.

• Try More Sample Components ：Sample Components

• Create Your Own Components ：Case Studies

• Learn the Fundamentals of OpenRTM ：Developer's Guide

• Join the Community ：Community

• Explore Public Components ：Projects