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OpenRTM-aist-2.0 debパッケージの詳しい内容

OpenRTM-2.0 debパッケージの詳しい内容

各パッケージの内容は以下の通りです。

openrtm2

openrtm2 にはランタイムライブラリとコマンド群が含まれています。

  • コマンド 
     /usr/bin/rtcd2
 /usr/bin/rtcprof2
 /usr/bin/rtm2-config
 /usr/bin/rtm2-naming
  • 設定ファイルサンプル 
     /usr/etc/logger/rtc.fluentbit_stream.conf
 /usr/etc/rtc.conf.sample2
 /usr/etc/rtc.names.ssl.conf
 /usr/etc/ssl/rtc.ssl.conf
 /usr/lib/x86_64-linux-gnu/pkgconfig/openrtm2.pc
  • ライブラリなど 
     /usr/lib/x86_64-linux-gnu/libRTC2.a
 /usr/lib/x86_64-linux-gnu/libRTC2.so.2.0.0
 中略
 /usr/lib/x86_64-linux-gnu/librtmCamera2.so
 /usr/lib/x86_64-linux-gnu/librtmManipulator2.so
 中略
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/ec/LogicalTimeTriggeredEC.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/local_service/FileNameservice.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/logger/FluentBit.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/sdo/ComponentObserverConsumer.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/sdo/ExtendedFsmServiceProvider.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/sdo/LoggerConsumer.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/ssl/SSLTransport.so

openrtm2-dev

openrtm2-devには、開発に必要なコマンド群とヘッダが含まれています。

  • コマンド 
     /usr/bin/rtm2-skelwrapper
  • ヘッダなど 
     /usr/include/coil-2.0/coil/Affinity.h
 /usr/include/coil-2.0/coil/Async.h
 中略
 /usr/include/openrtm-2.0/rtm/BufferBase.h
 /usr/include/openrtm-2.0/rtm/BufferStatus.h
 中略
 /usr/include/openrtm-2.0/rtm/config_rtc.h
 /usr/include/openrtm-2.0/rtm/ext/FastRTPSMessageInfo.h
 /usr/include/openrtm-2.0/rtm/ext/ROSMessageInfo.h
 /usr/include/openrtm-2.0/rtm/idl/BasicDataType.hh 
 /usr/include/openrtm-2.0/rtm/idl/BasicDataTypeSkel.h
 中略
 /usr/include/openrtm-2.0/rtm/idl/SharedMemoryStub.h
 /usr/include/openrtm-2.0/rtm/version.h
  • ライブラリ・その他 
     /usr/lib/x86_64-linux-gnu/openrtm-2.0/cmake/OpenRTMConfig.cmake
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/cmake/OpenRTMConfigVersion.cmake
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/py_helper/skel_wrapper.py
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/py_helper/yat.py

openrtm2-example

openrtm2-example にはスタンドアロン RTC、ローダブル RTC それぞれのサンプルが含まれています。

  • サンプル(スタンドアロンRTC) 
     /usr/share/openrtm-2.0/components/c++/examples/CompositeComp
 /usr/share/openrtm-2.0/components/c++/examples/ConfigSampleComp
 中略
 /usr/share/openrtm-2.0/components/c++/examples/rtc.conf
  • サンプル(ローダブルRTC) 
     /usr/share/openrtm-2.0/components/c++/examples/rtc/ConfigSample.so
 /usr/share/openrtm-2.0/components/c++/examples/rtc/ConsoleIn.so
 中略
 /usr/share/openrtm-2.0/components/c++/examples/rtc/Throughput.so

openrtm2-ros-tp

ROS通信機能ライブラリがインストールされます。

 /usr/lib/x86_64-linux-gnu/openrtm-2.0/transport/ROSTransport.so

openrtm2-ros2-tp

ROS2通信機能ライブラリがインストールされます。

 /usr/lib/x86_64-linux-gnu/openrtm-2.0/transport/FastRTPSTransport.so
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/transport/ROS2Transport.so

openrtm2-doc

openrtm2-doc には、日本語と英語のクラスリファレンス、IDL インターフェース定義リファレンスが含まれています。

  • クラスリファレンス 
     /usr/share/openrtm-2.0/doc/c++/ClassReference/html/BufferBase_8h.html
 /usr/share/openrtm-2.0/doc/c++/ClassReference/html/BufferBase_8h__dep__incl.map
 中略
 /usr/share/openrtm-2.0/doc/c++/ClassReference/html/structSDOPackage_1_1Organization__impl_1_1sdo__id.html
  • IDL リファレンス 
     /usr/share/openrtm-2.0/doc/idl/IDLReference/html/BasicDataType_8idl.html
 /usr/share/openrtm-2.0/doc/idl/IDLReference/html/BasicDataType_8idl_dep_incl.map
 中略
 /usr/share/openrtm-2.0/doc/idl/IDLReference/html/unionSDOPackage_1_1Numeric.html
  • クラスリファレンス(英語) 
     /usr/share/openrtm-2.0/doc/c++/ClassReference-en/html/BufferBase_8h.html
 /usr/share/openrtm-2.0/doc/c++/ClassReference-en/html/BufferBase_8h__dep__incl.map
 中略
 /usr/share/openrtm-2.0/doc/C++/ClassReference-en/html/version_8h_source.html
  • IDL リファレンス(英語) 
     /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/BasicDataType_8idl.html
 /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/BasicDataType_8idl__dep__incl.map
 中略
 /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/unionSDOPackage_1_1Numeric.html

openrtm2-idl

  • idlファイルなど 
     /etc/profile.d/openrtm2-idl.sh
 /usr/include/openrtm-2.0/rtm/idl/BasicDataType.idl
 /usr/include/openrtm-2.0/rtm/idl/CameraCommonInterface.idl
 中略
 /usr/include/openrtm-2.0/rtm/idl/SharedMemory.idl
 /usr/share/openrtm-2.0/idl/BasicDataType.idl
 /usr/share/openrtm-2.0/idl/CameraCommonInterface.idl
 中略
 /usr/share/openrtm-2.0/idl/SharedMemory.idl

openrtm2-python3

  • コマンド 
     /usr/bin/rtcd2_python3
 /usr/bin/rtcprof2_python3
  • OpenRTM-aist 本体の Python モジュール 
     /usr/lib/python3/dist-packages/OpenRTM_aist/*
  • OpenRTM-aist用Python検索パスファイル 
     /usr/lib/python3/dist-packages/OpenRTM-aist.pth
  • ユーティリティ 
     /usr/lib/python3/dist-packages/OpenRTM_aist/utils/__init__.py
 /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtc-template/*
 /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtcd/*
 /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtcprof/*
 /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtm-naming/*

openrtm2-python3-example

 /usr/share/openrtm-2.0/components/python3/__init__.py
 /usr/share/openrtm-2.0/components/python3/component.conf
 /usr/share/openrtm-2.0/components/python3/rtcd.conf
 /usr/share/openrtm-2.0/components/python3/AutoControl/*
 /usr/share/openrtm-2.0/components/python3/AutoTest/*
 /usr/share/openrtm-2.0/components/python3/CSPSample/*
 /usr/share/openrtm-2.0/components/python3/CSPSelectSample/*
 /usr/share/openrtm-2.0/components/python3/CSPStaticFsmSample/*
 /usr/share/openrtm-2.0/components/python3/Composite/*
 /usr/share/openrtm-2.0/components/python3/ConfigSample/*
 /usr/share/openrtm-2.0/components/python3/ExtTrigger/*
 /usr/share/openrtm-2.0/components/python3/MobileRobotCanvas/*
 /usr/share/openrtm-2.0/components/python3/SeqIO/*
 /usr/share/openrtm-2.0/components/python3/Serializer/*
 /usr/share/openrtm-2.0/components/python3/SimpleIO/*
 /usr/share/openrtm-2.0/components/python3/SimpleService/*
 /usr/share/openrtm-2.0/components/python3/Slider_and_Motor/*
 /usr/share/openrtm-2.0/components/python3/Throughput/*
 /usr/share/openrtm-2.0/components/python3/TkJoyStick/
 /usr/share/openrtm-2.0/components/python3/TkLRFViewer/*

openrtm2-python3-doc

英語・日本語のクラスリファレンスをインストールします。

  • クラスリファレンス 
     /usr/share/openrtm-2.0/doc/python3/ClassReference-en/html/_async_8py.html
 /usr/share/openrtm-2.0/doc/python3/ClassReference-en/html/_buffer_base_8py.html
 中略
 /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_async_8py.html
 /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_buffer_base_8py.html
 /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_buffer_status_8py.html
 以下略

openrtm2-java

 /etc/profile.d/openrtm-java.sh
 /usr/bin/rtcd2_java
 /usr/bin/rtcprof2_java
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/License.txt
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/LogicalTimeTriggeredEC.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/NameserviceFile.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/OpenRTM-aist-2.0.0.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/commons-cli-1.1.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/jna-4.2.2.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/jna-platform-4.2.2.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/rtcd.jar
 /usr/lib/x86_64-linux-gnu/openrtm-2.0/jar/rtcprof.jar

openrtm2-java-example

Java版サンプルRTC、Classファイル、ソースファイル、起動スクリプト 

 /usr/share/openrtm-2.0/components/java/* 
 /usr/share/openrtm-2.0/components/java/RTMExamples/AutoTest/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/Composite/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/ConfigSample/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/ExtTrigger/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/Fsm/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/control/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/model/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/view/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/MyService.idl
 /usr/share/openrtm-2.0/components/java/RTMExamples/SeqIO/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SeqIO/view/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SimpleIO/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SimpleService/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/SinCosOut/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/StaticFsm/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/Throughput/*
 /usr/share/openrtm-2.0/components/java/RTMExamples/TopicTest/*

openrtm2-java-doc

openrtm2-java-doc には、日本語と英語のクラスリファレンスが含まれています。

 /usr/share/openrtm-2.0/doc/java/JavaDoc/OpenRTM/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/OpenRTM/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/RTC/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/RTC/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/RTM/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/RTM/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/_SDOPackage/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/_SDOPackage/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/Version.html
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/class-use
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/jp/go/aist/rtm/*
 /usr/share/openrtm-2.0/doc/java/JavaDoc/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/OpenRTM/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/OpenRTM/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/RTC/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/RTC/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/RTM/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/RTM/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/_SDOPackage/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/_SDOPackage/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/index-files/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/class-use/Logbuf.html
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-2.0/doc/java/JavaDocEn/*

openrtp2

openrtpでは大量のファイルがインストールされるため、ここではリストしません。必要に応じて 

 $ dpkg -L openrtp2
と入力して各自での確認をしてください。

ダウンロード

最新バージョン : 2.1.0-RELESE

2.1.0-RELESE ダウンロードページ

統計

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ツール25
文書・仕様書2

OpenRTM@Github

OpenRTM-aist GitHubサイト

ROS

Robot Operating System

Choreonoid

モーションエディタ/シミュレータ

DAQ-Middleware

ネットワーク分散環境でデータ収集用ソフトウェアを容易に構築するためのソフトウェア・フレームワーク

産総研が提供するRTC集

東京オープンソースロボティクス協会