The Python version of OpenRTM-aist provides a deb package that is available for Ubuntu and Debian GNU Linux. The supported distribution versions can be found on the download page. Please note that supported versions and support for Ubuntu / Debian GNU Linux are subject to change without notice.
Install OpenRTM-aist by using script pkg_install_ubuntu.sh or pkg_install_debian. Download the script from the specified URL and execute it with root privileges. This script installs necessary packages sequentially using apt-get.
By specifying the option, it is possible to install the package depend on the purpose.
For details on downloading the bulk installation script, detailed installation methods, and the options that can be specified, see Bulk Installation Script. ※If the latest version is "1.2.2", you can install "1.2.1" by option and downgrade from "1.2.2" to "1.2.1".
After downloading the bulk installation script, change to the downloaded directory,
For Ubuntu
$ sudo sh pkg_install_ubuntu.sh -l python --yes
For Debian, after getting root privileges using su command.
# sh pkg_install_debian.sh -l python --yes.
Installation of OpenRTP
For development in a general Ubuntu/Debian environment, use RTCBuilder or RTSystemEditor. In that case, OpenRTP is required. You can install OpenRTP using the bulk installation script.
For Ubuntu, at the directory where pkg_install_ubuntu.sh is located
$ sudo sh pkg_install_ubuntu.sh -l openrtp --yes
In the case of Debian, after obtaining root privilage by su
# sh pkg_install_debian.sh -l openrtp --yes
Install JDK8
To run OpenRTP (RTSystemEditor, RTCBuilder, etc.), a Java environment equivalent to JDK8 is required. (In some cases, JDK8 is installed in the default environment, but in Ubuntu 18.04, JDK11 is installed, so JDK8 must be installed.) Note that JDK is not required to use rtshell/rtctree/rtsprofile. If you do not use OpenRTP, you do not need to install JDK8. See below for information on obtaining and installing JDK8.
If you want to control RTC with CUI, such as when the control computer is a small system, a tool called rtshell is provided as a tool that can provide the functions equivalent to RTSystemEditor of OpenRTP from CUI. Use the bulk installation script to install rtshell in the directory where the bulk installation script file is located.
For Ubuntu,
$ sudo sh pkg_install_ubuntu.sh -l rtshell --yes
$ sudo rtshell_post_install
For Debian, get root priviledge by su
# sh pkg_install_debian.sh -l rtshell --yes
# rtshell_post_install
Checking the installation
When openrtp is installed You can check the installation as the folloing. (An example of 1.2.1.)
$ dpkg -l 'openrt*'
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name Version Architecture Description
+++-=====================-===============-===============-================================================
ii openrtm-aist:amd64 1.2.1-0 amd64 OpenRTM-aist, RT-Middleware distributed by AIST
ii openrtm-aist-dev:amd6 1.2.1-0 amd64 OpenRTM-aist headers for development
ii openrtm-aist-idl:amd6 1.2.1-0 amd64 OpenRTM-aist idls for development
ii openrtm-aist-python 1.2.1-0 amd64 OpenRTM-aist, RT-Middleware distributed by AIST
ii openrtm-aist-python-d 1.2.1-0 all Documentation for openrtm-aist-python
ii openrtm-aist-python-e 1.2.1-0 amd64 OpenRTM-aist-Python examples
ii openrtp:amd64 1.2.1-0 amd64 OpenRTP, Open RT Platform distributed by AIST
When rtshell is installed instead of openrtp
You can check the installation at the following. (An example of 1.2.1.)
$ dpkg -l 'openrt*'
Desired=Unknown/Install/Remove/Purge/Hold
| Status=Not/Inst/Conf-files/Unpacked/halF-conf/Half-inst/trig-aWait/Trig-pend
|/ Err?=(none)/Reinst-required (Status,Err: uppercase=bad)
||/ Name Version Architecture Description
+++-=====================-===============-===============-================================================
ii openrtm-aist-python 1.2.1-0 amd64 OpenRTM-aist, RT-Middleware distributed by AIST
ii openrtm-aist-python-d 1.2.1-0 all Documentation for openrtm-aist-python
ii openrtm-aist-python-e 1.2.1-0 amd64 OpenRTM-aist-Python examples
To check the Installation of rtshell
$ pip show rtshell-aist
Name: rtshell-aist
Version: 4.2.2
Summary: Shell commands for managing RT Components and RT Systems.
Home-page: http://github.com/gbiggs/rtshell
Author: Geoffrey Biggs and contributors
Author-email: geoffrey.biggs@aist.go.jp
License: LGPL3
Location: /usr/local/lib/python2.7/dist-packages
Requires: rtctree-aist, rtsprofile-aist
Package Details
The contents of each package are as follows.
openrtm-aist
openrtm-aist contains runtime libraries and commands.
The Python version of OpenRTM-aist provides a deb package that is available for Ubuntu and Debian GNU Linux. The supported distribution versions can be found on the download page. Please note that supported versions and support for Ubuntu / Debian GNU Linux are subject to change without notice.
Bulk installation script
Install OpenRTM-aist by using script pkg_install_ubuntu.sh or pkg_install_debian. Download the script from the specified URL and execute it with root privileges. This script installs necessary packages sequentially using apt-get.
By specifying the option, it is possible to install the package depend on the purpose.
For details on downloading the bulk installation script, detailed installation methods, and the options that can be specified, see Bulk Installation Script.
※If the latest version is "1.2.2", you can install "1.2.1" by option and downgrade from "1.2.2" to "1.2.1".
After downloading the bulk installation script, change to the downloaded directory,
For Ubuntu
For Debian, after getting root privileges using su command.
Installation of OpenRTP
For development in a general Ubuntu/Debian environment, use RTCBuilder or RTSystemEditor. In that case, OpenRTP is required. You can install OpenRTP using the bulk installation script.
For Ubuntu, at the directory where pkg_install_ubuntu.sh is located
In the case of Debian, after obtaining root privilage by su
Install JDK8
To run OpenRTP (RTSystemEditor, RTCBuilder, etc.), a Java environment equivalent to JDK8 is required. (In some cases, JDK8 is installed in the default environment, but in Ubuntu 18.04, JDK11 is installed, so JDK8 must be installed.) Note that JDK is not required to use rtshell/rtctree/rtsprofile. If you do not use OpenRTP, you do not need to install JDK8. See below for information on obtaining and installing JDK8.Installation of rtshell
If you want to control RTC with CUI, such as when the control computer is a small system, a tool called rtshell is provided as a tool that can provide the functions equivalent to RTSystemEditor of OpenRTP from CUI. Use the bulk installation script to install rtshell in the directory where the bulk installation script file is located.
For Ubuntu,
For Debian, get root priviledge by su
Checking the installation
You can check the installation at the following. (An example of 1.2.1.)
To check the Installation of rtshell
Package Details
The contents of each package are as follows.
openrtm-aist
openrtm-aist contains runtime libraries and commands.
openrtm-aist-dev
openrtm-aist-dev package includes commands and header files which are needed for software development.
openrtm-aist-python3
The main Python version has been changed from 2 to 3 from OpenRTM-aist 1.2.2.
openrtm-aist-python3-example
openrtm-aist-python3-doc
openrtp
In openrtp installation, since so many files are installed, the listing is not made. Depend on your needs, use the following command.
rtshell