Here, you can read the "step-by-step" manual of RTC development using OpenRTM-aist. This tutorial is for the users with ...

• Knowledge of the programming language which you want to use
• Knowledge of Operating System

Contents

• Installation
• Skeleton Code Generation
• Periodic Execution
• Activate/Deactivate RTCs
• Data Out Port
• Connection
• Data In Port
• Configuration
• Service Port
• RTC daemon

Installation

Install and Setup of developmental environment for RT-component of OpenRTM-aist.
This content depends on your language selection. Please select your preferable language.

Skeleton Code Generation

Install and Setup of developmental environment for RT-component of OpenRTM-aist.
In usual RTC development, RTC's skeleton code can be generated by RTC-builder. Here, the way how to use RTCB is shown.

Periodic Execution

The simplest RTC that outputs a text message periodically is shown.
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Activate / Deactivate RTC

How to activate / deactivate RTC is shown.

rtc.conf

The period of the "execution" can be configured a posteriori. The "rtc.conf" is a default configuration file for RT-component. Here, the rules for the configuration is described.

Data Out Port

The basic communication strategy "Data Port" is shown here.
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Connection

How to connect RTCs is shown.

Data In Port

Now you can receive data from other RTCs using the Data In Port.
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Configuration

The variables that regulate the behavior of RTCs (ex., gains for feedback controlling) can be configured a posteriori.
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Service Port

"Service Port" provides a remote-function calling that is "passing arguments" and "receiving return value".
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RTC daemon

"RTC daemon" is a deployment mechanism that can create plural RTCs in one process.
This content depends on your language selection. Please select your preferable language.