OpenRTM-aist specifications

OpenRTM-aist consists of RT component framework, RT middleware, basic RT components, libraries, basic services, basic tools and so on. The RT component framework consists of the base classes for creating RT components, and all RT components are created as subclasses of the base classes. RT middleware loads RT component modules which are made based on the framework, handles the instances life cycle such as construction/destruction, registers the components to the name service, etc. OpenRTM-aist also includes libraries for user convenience, basic services like component registering/searching (currently CORBA Naming Service is used), tools like RTCbuilder which generate base code, RTSystemEditor which connects and control RT components.

At present, OpenRTM-aist supports C++, Python and Java languages. It can run on Windows, UNIX based OS, µITRON (C++ only) based OS. In addition, System Engineering Consultants Co, LTD. has released OpenRTM-aist compatible middleware: OpenRTM .NET. It can create and execute RTC in .NET environment including C# use. RTCs that are created in different languages or work on different OSs can be connected and operate together.

Interface Specification



OpenRTM-aist consists of the following each language version of middleware libraries and the tools.

Configuration of OpenRTM-aist

Name Summary
OpenRTM-aist (C++ version) Component framework and middleware libraries and commands for creating RT components in C++ language
OpenRTM-aist (Python version) Component framework and middleware library and commands for creating RT components in Python language
OpenRTM-aist (Java version) Component framework and middleware library and commands for creating RT components in Java language
RTCBuilder Eclipse plugin for RT component design and code generation
RTSystemEditor Eclipse plugin for RT component operation and RT system design/operation
rtshell A set of commands which can be used to control RT component and RT system

Each of these distributions is distributed under the dual licenses - individual contract and EPL.

Operating condition

OpenRTM-aist (C++ version)

Compiler gcc 3.x or higher, Visual C++ 2008, 2010, 2012, 2013, 2015, 2017, 2019
OS Linux, FreeBSD, Windows, Mac OS X, TOPPERS ASP
CPU i386, x86_64, ppc, arm
Dependent library omniORB 4.0 or higher, libuuid (Linux)

OpenRTM-aist (Python version)

Python Python 2.7, Python 3.6, Python 3.7
Dependent library omniORBpy - 2.3 or higher

OpenRTM-aist (Java version)

Java JDK 5 or higher
Dependent library Java IDL included in JDK


Eclipse 3.4 or more
Java JDK 6 or higher
Dependent library Eclipse EMF 2.2 or higher (including SDO and XSD), Eclipse GEF 3.2 or higher (including Draw 2D)


Python Python 2.6 and higher
Dependent library omniORBpy - 2.3 or higher


latest Releases

For Begginers

Windows msi(installer) package (only trying samples)


Development environment is required for RT-Component development. See download page for details.

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