RT-Middleware Tutorial for Beginners in SICE 2020



Due to the change of SICE 2020 to online, RT-Middleware tutorial also will be held as an online tutorial.

RT-Middleware is a software platform that streamlines the development of robot, IoT and distributed control and measurement systems. Since a robot system is constructed by combining a large number of modularized software called RT-Components, it is easy to change and expand the system, as well as inheriting existing software assets and components created by others. The seminar will explain the outline of RT-Middleware and how to create RT-Components. Students will be required to prepare their own PCs and actually create RT-Components in a practical format, and combine them with existing components to construct a simple system. By taking this course, you will be able to master the RT-Component design method, implementation method, and system integration method. This course will be held online by using Zoom.

  • Sponsor: SICE, SICE SI-division, AIST
  • Date: September 23rd, 2020
  • Time: 11:00 -16:00 ICT (Indochina Time = Time zone of Thailand) (13:00 -18:00 JST)
  • Registration fee : 2,500 JPY (for SICE 2020 Participants), 5,000 JPY (for Non-Participants)
    • Please select Half-day Tutorial in the SICE 2020 Registration Site
  • Registration : For the registration, please visit SICE2020
  • The number of participants : 20


11:00 -11:50 ICT
(13:00-13:50 JST)
Part 1: Overview of OpenRTM-aist and RT-Component programming
Lecturer:Noriaki Ando (AIST)
Outline: RT-Middleware (OpenRTM-aist) is a software platform for building robot systems in a component-oriented manner. By using RT-Middleware, existing components can be reused and a module-oriented flexible robot system can be constructed. This section describes the outline of RT-Middleware and the functions and programming flow of RT-Components.
11:50 -12:00 ICT
(13:50-14:00 JST)
Q&A and discussion
12:00 -12:10 ICT
(14:00-14:10 JST)
Confirming the installation of software required for the tutorial
12:10 -13:10 ICT
(14:10-15:10 JST)
13:10 -16:00 ICT
(15:10-18:00 JST)
Part2: Introduction to creating RT-Components
Lecturer:Nobuhiko Miyamoto (AIST)
Outline: In addition to explaining how to use RTSystemEditor, a tool for designing RT systems, and RTCBuilder, a tool for creating RT-Components, you will learn how to use RTCBuilder and RTSystemEditor through hands-on training using a mobile robot simulator.
Tutorial(Part 2、Windows)
Tutorial(Part 2、Ubuntu)

( ICT: Indochina Time, JST: Japan Standard Tme )


Part 1

Part 2

Reference document

Prepare for the tutorial

In the tutorial, we will actually create a program using a PC and operate the robot in the simulator. Please prepare your PC and install the software as shown below before the tutorial.


Please prepare a PC for the second part of the programming practice.


Please download the following ZIP file and expand it with Lhaplus etc.


For Windows

Please install the following software. If the link is broken, please install the latest version. If you have a 64-bit version of Windows, download the 64-bit version, or download the 32-bit version of the 32-bit version.

For Ubuntu


 $ wget https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/pkg_install_ubuntu.sh
 $ sudo sh pkg_install_ubuntu.sh -l all --yes


 # Ubuntu for 18.04, 18.10
 $ sudo apt-get install openjdk-8-jdk
 # Ubuntu for 16.04
 $ sudo apt-get install default-jdk

For Ubuntu 18.04 and 18.10, switch to java8 with the following command.

 $ sudo update-alternatives --config java


 $ sudo apt-get install git

Premake(for RaspberryPiMouseSimulator )

 $ sudo apt-get install premake4

GLUT(for RaspberryPiMouseSimulator)

 $ sudo apt-get install freeglut3-dev

RaspberryPiMouseSimulator conponent

 $ wget https://raw.githubusercontent.com/OpenRTM/RTM_Tutorial_ROBOMECH2019/master/script/install_raspimouse_simulator.sh
 $ sh install_raspimouse_simulator.sh


 $ sudo apt-get install codeblocks


 $ sudo apt-get install cmake-qt-gui

Notes on holding online

This RT middleware tutorial will be held online using Zoom. Please read the following student manuals.



The size of the tutorial is explained for the terms and all issues for the groups. The reforms of the https://techbuzzireland.com/2021/06/22/6-tips-to-land-a-job-in-the-tech-industry/ are assumed for the field. The path is fit for the skilled operation for the changes. the value is judged for the perfection in the mid of the offers.


latest Releases : 2.0.0-RELESE

2.0.0-RELESE Download page

Number of Projects


Motion editor/Dynamics simulator


Dynamics simulator


Integrated Development Platform

AIST RTC collection

RT-Components collection by AIST


Tokyo Opensource Robotics Association


Middleware for DAQ (Data Aquisition) by KEK