Install on Fedora

Currently, OpenRTM-aist 1.2 is not fully compatible with Fedora. Therefore, use the information on this page as reference information only.

OpenRTM-aist for C++ is provided with an RPM package that can be used on Fedora Linux. The supported Fedora Linux versions can be checked from the download page. Please note that support for Fedora Linux and its versions are subject to change or suspension without notice.

There are two main types of installation methods for Fedora Linux.
  • Use the bulk installation script provided by openrtm.org
  • Use yum package manager

Bulk installation script

Download the installation script "pkg_install_fedora.sh" provided by openrtm.org from the download page and execute it with root privileges. This script installs necessary packages sequentially using yum.

It is very convenient because it installs all the packages required to develop and execute OpenRTM-aist. By specifying the option, you can install the package according to the purpose, so it is recommended for those who install OpenRTM-aist for the first time and those who compile the source.

After downloading the bulk installation script, move to the download destination directory, type in:

 $ sudo sh pkg_install_fedora.sh -l c++ --yes

Please refer to the Bulk installation script page for information on downloading the bulk installation script, detailed installation methods, and types of options that can be specified.

Install OpenRTP

RTCBuilder and RTSystemEditor are used for general Fedora environment development. In that case, OpenRTP is required. Please install OpenRTP using a bulk installation script. In Fedora, at the directory where pkg_install_fedora.sh is located, type in:

 $ sudo sh pkg_install_fedora.sh -l openrtp --yes

Install JDK8

To run OpenRTP (RTSystemEditor and RTCBuilder), a Java environment equivalent to JDK8 is required. At present, in the Fedora environment, the bulk installation script installs OpenJDK8 from the Fedora rpm repository. If you want to install another JDK8, please refer to the link below.

Using yum

Create /etc/yum.repos.d/openrtm.repo

openrtm.org provides a package repository available from yum. However, it is not included in the default package repository, so you need to change the setting of yum.

Create a file /etc/yum.repos.d/openrtm.repo that contains the following settings. The creation usually requires root privileges.

 [openrtm]
 name=Fedora $releasever - $basearch
 failovermethod=priority
 baseurl=http://openrtm.org/pub/Linux/Fedora/releases/$releasever/Fedora/$basearch/os/Packages
 enabled=1
 gpgcheck=0
 gpgkey=file:///etc/pki/rpm-gpg/RPM-GPG-KEY-fedora file:///etc/pki/rpm-gpg/RPM-GPG-KEY
/etc/yum.repos.d/openrtm.repo

Installation by yum

After creating openrtm.repo, install it according to the following procedure. On the way, you will be asked for some responses, so complete by typing y.

 $ sudo yum install gcc-c++ python
 $ sudo yum install omniORB omniORB-devel omniORB-doc omniORB-servers omniORB-utils
 $ sudo yum install OpenRTM-aist OpenRTM-aist-devel OpenRTM-aist-doc OpenRTM-aist-example OpenRTP

Confirm installation

Finally, confirm the installation with the following command.

 $ rpm -qa|grep OpenRT*
 OpenRTM-aist-1.2.0-0.fc29.x86_64
 OpenRTM-aist-devel-1.2.0-0.fc29.x86_64
 OpenRTM-aist-example-1.2.0-0.fc29.x86_64
 OpenRTM-aist-doc-1.2.0-0.fc29.x86_64
 OpenRTP-1.2.0-1.fc29.x86_64 

Package details

The contents of each package are as follows (for 64-bit Fedora)

OpenRTM-aist

openrtm-aist includes run-time libraries and commands.

  • Sample configuration file
     /etc/rtc.conf.sample
  • Commands
     /usr/bin/rtcd
     /usr/bin/rtcprof
     /usr/bin/rtm-config
     /usr/bin/rtm-naming
  • Libraries
     /usr/lib64/libRTC-1.2.0.so
     /usr/lib64/libRTC.a
     /usr/lib64/libRTC.la
     ...
     /usr/lib64/librtmManipulator.so.0.0.0
     /usr/lib64/openrtm-1.2/ec/FileNameservice.la
     /usr/lib64/openrtm-1.2/ec/FileNameservice.so
     ...
     /usr/lib64/openrtm-1.2/ec/RTPreemptEC.so.0.0.0
     /usr/lib64/openrtm-1.2/sdo/LoggerConsumer.a
     /usr/lib64/openrtm-1.2/sdo/LoggerConsumer.la
     ...
     /usr/lib64/openrtm-1.2/sdo/LoggerConsumer.so.0.0.0
     /usr/lib64/openrtm-1.2/ssl/SSLTransport.la
     /usr/lib64/openrtm-1.2/ssl/SSLTransport.so
     /usr/lib64/openrtm-1.2/ssl/SSLTransport.so.0
     /usr/lib64/openrtm-1.2/ssl/SSLTransport.so.0.0.0

OpenRTM-aist-devel

openrtm-aist-dev includes commands and header files that are used for RT system development.

  • Commands
     /usr/bin/coil-config
     /usr/bin/rtc-template
     /usr/bin/rtm-skelwrapper
  • Header Files
     /usr/include/coil-1.2/coil/Affinity.h
     /usr/include/coil-1.2/coil/Allocator.h
     ...
     /usr/include/coil-1.2/coil/stringutil.h
     /usr/include/openrtm-1.2/rtm/BufferBase.h
     /usr/include/openrtm-1.2/rtm/BufferStatus.h
     ...
     /usr/include/openrtm-1.2/rtm/version.txt
     /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.hh
     /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.idl
     ...
     /usr/include/openrtm-1.2/rtm/ext/ManipulatorCommonInterface_MiddleStub.h
     /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/ArtExecutionContext.h
     /usr/include/openrtm-1.2/rtm/ext/ec/artlinux/rtc.conf.sample
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.h
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredEC.idl
     ...
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/LogicalTimeTriggeredECStub.h
     /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/RTPreemptEC.h
     /usr/include/openrtm-1.2/rtm/ext/ec/rtpreempt/rtc.conf.sample
     /usr/include/openrtm-1.2/rtm/ext/local_service/nameservice_file
     /usr/include/openrtm-1.2/rtm/ext/local_service/nameservice_file/FileNameservice.h
     /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/FluentBit.h
     /usr/include/openrtm-1.2/rtm/ext/logger/fluentbit_stream/fluentbit.conf
     /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.hh
     /usr/include/openrtm-1.2/rtm/ext/sdo/logger/Logger.idl
     ...
     /usr/include/openrtm-1.2/rtm/ext/sdo/logger/LoggerStub.h
  • IDL files and stab skeleton files
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserver.idl
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverConsumer.h
     ...
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/ComponentObserverStub.h
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.hh
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredEC.idl
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECDynSK.cc
     /usr/include/openrtm-1.2/rtm/ext/ec/logical_time/idl/LogicalTimeTriggeredECSK.cc
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.hh
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserver.idl
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverDynSK.cc
     /usr/include/openrtm-1.2/rtm/ext/sdo/observer/idl/ComponentObserverSK.cc
     /usr/include/openrtm-1.2/rtm/idl/BasicDataType.hh
     /usr/include/openrtm-1.2/rtm/idl/BasicDataType.idl
     ...
     /usr/include/openrtm-1.2/rtm/idl/SharedMemoryStub.h
     /usr/include/openrtm-1.2/rtm/idl/device_interfaces/AIO.idl
     /usr/include/openrtm-1.2/rtm/idl/device_interfaces/ActArray.idl
     ...
     /usr/include/openrtm-1.2/rtm/idl/device_interfaces/Ranger.idl
     
  • Libraries etc.
     /usr/lib64/openrtm-1.2/cmake/OpenRTMConfig.cmake
     /usr/lib64/openrtm-1.2/py_helper/README_gen.py
     /usr/lib64/openrtm-1.2/py_helper/cxx_gen.py
     ...
     /usr/lib64/openrtm-1.2/py_helper/yat.py
     /usr/lib64/pkgconfig/libcoil.pc
     /usr/lib64/pkgconfig/openrtm-aist.pc

OpenRTM-aist-doc

openrtm-aist-doc includes Japanese/English class references and IDL references.

  • Class references
     /usr/share/openrtm-1.2/doc/C++/ClassReference/html/Affinity-8h.html
     /usr/share/openrtm-1.2/doc/C++/ClassReference/html/Affinity_8h__dep__incl.map
     ...
     /usr/share/openrtm-1.2/doc/C++/ClassReference/html/version_8h_source.html
  • IDL references
     /usr/share/openrtm-1.2/doc/idl/IDLReference/html/BasicDataType_8idl.html
     /usr/share/openrtm-1.2/doc/idl/IDLReference/html/BasicDataType_8idl__dep__incl.map
     ...
     /usr/share/openrtm-1.2/doc/idl/IDLReference/html/unionSDOPackage_1_1Numeric.html
  • Class references (English)
     /usr/share/openrtm-1.2/doc/C++/ClassReference-en/html/Affinity-8h.html
     /usr/share/openrtm-1.2/doc/C++/ClassReference-en/html/Affinity_8h__dep__incl.map
     ...
     /usr/share/openrtm-1.2/doc/C++/ClassReference-en/html/version_8h_source.html
  • IDL references (English)
     /usr/share/openrtm-1.2/doc/idl/IDLReference-en/html/BasicDataType_8idl.html
     /usr/share/openrtm-1.2/doc/idl/IDLReference-en/html/BasicDataType_8idl__dep__incl.map
     ...
     /usr/share/openrtm-1.2/doc/idl/IDLReference-en/html/unionSDOPackage_1_1Numeric.html

OpenRTM-aist-example

openrtm-aist-example inclues sample stand-alone RTCs, loadable RTCs and the source code.

  • Sample stand-alone RTCs
     /usr/share/openrtm-1.2/components/c++/examples/Composite
     /usr/share/openrtm-1.2/components/c++/examples/ConfigSampleComp
     ...
     /usr/share/openrtm-1.2/components/c++/examples/ThroughputComp
     /usr/share/openrtm-1.2/components/c++/examples/component.conf
     /usr/share/openrtm-1.2/components/c++/examples/composite.conf
     ...
     /usr/share/openrtm-1.2/components/c++/examples/rtc.conf
  • Sample loadable RTCs
     /usr/share/openrtm-1.2/components/c++/examples/rtc/ConfigSample.a
     /usr/share/openrtm-1.2/components/c++/examples/rtc/ConfigSample.la
     /usr/share/openrtm-1.2/components/c++/examples/rtc/Throughput.so.0.0.0
  • Source code
     /usr/share/openrtm-1.2/components/c++/examples/src/Composite/Composite.cpp
     /usr/share/openrtm-1.2/components/c++/examples/src/Composite/Controller.cpp
     ...
     /usr/share/openrtm-1.2/components/c++/examples/src/Composite/rtc.conf
     /usr/share/openrtm-1.2/components/c++/examples/src/ConfigSample/ConfigSample.cpp
     /usr/share/openrtm-1.2/components/c++/examples/src/ConfigSample/ConfigSample.h
     ...
     /usr/share/openrtm-1.2/components/c++/examples/src/ConfigSample/rtc.conf
     /usr/share/openrtm-1.2/components/c++/examples/src/ExtTrigger/ConnectorComp.cpp
     /usr/share/openrtm-1.2/components/c++/examples/src/ExtTrigger/ConsoleIn.cpp
     ...k
     /usr/share/openrtm-1.2/components/c++/examples/src/ExtTrigger/rtc.conf
     /usr/share/openrtm-1.2/components/c++/examples/src/ExtTrigger/run.sh
     /usr/share/openrtm-1.2/components/c++/examples/src/SeqIO/Makefile.SeqIn
     /usr/share/openrtm-1.2/components/c++/examples/src/SeqIO/Makefile.SeqOut
     ...
     /usr/share/openrtm-1.2/components/c++/examples/src/SeqIO/rtc.conf
     /usr/share/openrtm-1.2/components/c++/examples/src/SimpleIO/ConnectorComp.cpp
     /usr/share/openrtm-1.2/components/c++/examples/src/SimpleIO/ConsoleIn.cpp
     ...
     /usr/share/openrtm-1.2/components/c++/examples/src/SimpleIO/run.sh
     /usr/share/openrtm-1.2/components/c++/examples/src/SimpleService/Makefile.MyServiceConsumer
     /usr/share/openrtm-1.2/components/c++/examples/src/SimpleService/Makefile.MyServiceProvider 
     ...
     /usr/share/openrtm-1.2/components/c++/examples/src/SimpleService/rtc.conf
     /usr/share/openrtm-1.2/components/c++/examples/src/Throughput/CMakeLists.txt
     /usr/share/openrtm-1.2/components/c++/examples/src/Throughput/Throughput.cpp
     ...
     /usr/share/openrtm-1.2/components/c++/examples/src/Throughput/run.sh
  • Templates
     /usr/share/openrtm-1.2/components/c++/examples/templates/AIO.xml
     /usr/share/openrtm-1.2/components/c++/examples/templates/ActArray.xml
     ...
     /usr/share/openrtm-1.2/components/c++/examples/templates/VelocityControl3D.xml

OpenRTP

Installing OpenRtp installs too many files to show here. If you want to know the files, type in:

 $ rpm -ql  OpenRTP

Download

latest Releases

For Begginers

Windows msi(installer) package (only trying samples)

C++,Python,Java,
Toolsを含む
1.2.1-RELEASE

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

Number of Projects

Choreonoid

Motion editor/Dynamics simulator

OpenHRP3

Dynamics simulator

OpenRTP

Integrated Development Platform

AIST RTC collection

RT-Components collection by AIST

TORK

Tokyo Opensource Robotics Association

DAQ-Middleware

Middleware for DAQ (Data Aquisition) by KEK