Install on Ubuntu/Debian

ubuntu_logo2.png

The C++ version of OpenRTM-aist provides deb packages that can be used on Ubuntu and Debian GNU Linux. You can check the distribution version of the OS supported by each release 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

Download the installation script "pkg_install_ubuntu.sh" or "pkg_install_debian.sh" provided by openrtm.org from the specified URL and execute it with root authority. This script installs necessary packages sequentially using apt-get.

By specifying the option, it is possible to install the packages required for your purpose.

To install OpenRTM-aist C++ version, download the bulk installation script, move to the download destination directory, and type in:

For Ubuntu

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

After getting root privileges with su for Debian

 # sh pkg_install_debian.sh -l c++ --yes

For details on how to download the batch installation script, detailed installation methods, and the types of options that can be specified, see the Bulk Installation Script page.

Install OpenRTP

RTCBuilder and RTSystemEditor are used for general RT system development on Ubuntu/Debian environment. In that case, OpenRTP is required. To install OpenRTP using the bulk installation script in Ubuntu, in the directory where pkg_install_ubuntu.sh is located, type in:

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

On Debian, get root privileges with su and then type in:

 # sh pkg_install_debian.sh -l openrtp --yes

Install JDK8

To run OpenRTP (RTSystemEditor and RTCBuilder), a Java environment equivalent to JDK8 is required. (In some OS cases, JDK8 is installed in the default environment. On Ubuntu 18.04, JDK11 is installed, so JDK8 must be installed.) For information to obtain and install JDK8, refer to the following.

Confirm installation

Check the installation.

 $ 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:amd64    1.2.1-0           amd64             OpenRTM-aist headers for development
 ii  openrtm-aist-doc          1.2.1-0           all               Documentation for openrtm-aist
 ii  openrtm-aist-example:amd6 1.2.1-0           amd64             OpenRTM-aist examples
 ii  openrtm-aist-idl:amd64    1.2.1-0           amd64             OpenRTM-aist idls for development
 ii  openrtp:amd64             1.2.1-0           amd64             OpenRTP, Open RT Platform distributed by AIST

Package details

The contents of each package are as follows.

openrtm-aist

openrtm-aist contains runtime libraries and commands.

  • Command
     /usr/bin/fluent-bit
     /usr/bin/rtcd
     /usr/bin/rtcprof
     /usr/bin/rtm-config
     /usr /bin/rtm-naming
  • License etc.
     /usr/share/doc/openrtm-aist/README
     /usr/share/doc/openrtm-aist/README.Debian
     /usr/share/doc/openrtm-aist/README.jp
     /usr/share/doc/openrtm-aist/changelog.Debian.gz
     /usr/share/doc/openrtm-aist/changelog.gz
     /usr/share/doc/openrtm-aist/copyright
  • Sample configuration file
     /usr/etc/fluent-bit/fluent-bit.conf
     /usr/etc/fluent-bit/parsers.conf
     /usr/etc/rtc.conf.sample
     /usr/lib/x86_64-linux-gnu/pkgconfig/openrtm-aist.pc
  • Header etc.
     /usr/include/fluent-bit.h
     /usr/include/fluent-bit/flb_api.h
     /usr/include/fluent-bit/flb_bits.h
     ...
     /usr/include/fluent-bit/flb_worker.h
  • Libraries, etc.
     /lib/systemd/system/fluent-bit.service
     /usr/lib/libfluent-bit.so
    • 32bit
       /usr/lib/i386-linux-gnu/libRTC-1.2.1.so
       /usr/lib/i386-linux-gnu/libRTC.a
       ...
       /usr/lib/i386-linux-gnu/librtmManipulator.so.0.0.0
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/FileNameservice.la
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/FileNameservice.so
       ...
        /usr/lib/i386-linux-gnu/openrtm-1.2/ec/RTPreemptEC.so.0.0.0
       /usr/lib/i386-linux-gnu/openrtm-1.2/logger/FluentBit.la
       ...
       /usr/lib/i386-linux-gnu/openrtm-1.2/logger/FluentBit.so.0.0.0
       /usr/lib/i386-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.a
       /usr/lib/i386-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.la
       ...
       /usr/lib/i386-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.so.0.0.0
       /usr/lib/i386-linux-gnu/libRTC-X.X.X.so
       /usr/lib/i386-linux-gnu/libRTC.a
       ...
       /usr/lib/i386-linux-gnu/librtmManipulator.so.X.X.X
  • 64 bit
     /usr/lib/x86_64-linux-gnu/libRTC-1.2.1.so
     /usr/lib/x86_64-linux-gnu/libRTC.a
     ...
     /usr/lib/x86_64-linux-gnu/librtmManipulator.so.0.0.0
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.la
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.so
     ...
      /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/RTPreemptEC.so.0.0.0
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/logger/FluentBit.la
     ...
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/logger/FluentBit.so.0.0.0
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.a
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.la
     ...
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/sdo/LoggerConsumer.so.0.0.0
     /usr/lib/x86_64-linux-gnu/libRTC-X.X.X.so
     /usr/lib/x86_64-linux-gnu/libRTC.a
     ...
     /usr/lib/x86_64-linux-gnu/librtmManipulator.so.X.X.X

openrtm-aist-dev

openrtm-aist-dev contains commands and headers necessary for development.

  • Command
     /usr/bin/coil-config
     /usr/bin/rtc-template
     /usr/bin/rtm-skelwrapper
  • License etc.
     /usr/share/doc/openrtm-aist-dev/changelog.Debian.gz
     /usr/share/doc/openrtm-aist-dev/changelog.gz
     /usr/share/doc/openrtm-a
     
  • 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/config_rtc.h
     /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterface.hh
     /usr/include/openrtm-1.2/rtm/ext/CameraCommonInterfaceDynSK.cc
     ...
     /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/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/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/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
     /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/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/BasicDataTypeDynSK.cc
     ...
     /usr/include/openrtm-1.2/rtm/idl/SharedMemoryStub.h
     /usr/include/openrtm-1.2/rtm/version.h
     /usr/include/openrtm-1.2/rtm/version.txt
     /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/config_rtc.h
     /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/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/ec/rtpreempt
     /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/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
     /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/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/device_interfaces/Ranger.idl
     /usr/include/openrtm-1.2/rtm/version.h
     /usr/include/openrtm-1.2/rtm/version.txt
  • Libraries and others
    • 32bit
       /usr/lib/i386-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake
       /usr/lib/i386-linux-gnu/openrtm-1.2/py_helper/README_gen.py
       /usr/lib/i386-linux-gnu/openrtm-1.2/py_helpver/cxx_gen.py
       ...
       /usr/lib/i386-linux-gnu/openrtm-1.2/py_helpver/yat.py
       /usr/lib/i386-linux-gnu/pkgconfig/libcoil.pc
       
    • 64bit
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/cmake/OpenRTMConfig.cmake
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helper/README_gen.py
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helper/cxx_gen.py
       ...
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helper/yat.py
       /usr/lib/x86_64-linux-gnu/pkgconfig/libcoil.pc

openrtm-aist-example

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

  • Sample (Stand alone RTC)
     /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/rtc.conf
  • Sample (Loadable RTC)
     /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.X.X.X
  • Sample (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
     ...
     /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
     /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
  • License etc.
     /usr/share/doc/openrtm-aist-example/changelog.Debian.gz
     /usr/share/doc/openrtm-aist-example/changelog.gz
     /usr/share/doc/openrtm-aist-example/copyright

openrtm-aist-doc

openrtm-aist-doc includes Japanese/English class reference, IDL interface definition files.

  • Class Reference (Japanese)
     /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 Reference (Japanese)
     /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 Reference (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 Reference (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
  • License etc.
     /usr/share/doc/openrtm-aist-doc/changelog.Debian.gz
     /usr/share/doc/openrtm-aist-doc/changelog.gz
     /usr/share/doc/openrtm-aist-doc/copyright

openrtm-aist-idl

  • idl files etc.
     /etc/profile.d/openrtm-aist-idl.sh
     /usr/include/openrtm-1.2/rtm/idl/BasicDataType.idl
     /usr/include/openrtm-1.2/rtm/idl/CameraCommonInterface.idl
     ...
     /usr/include/openrtm-1.2/rtm/idl/SharedMemory.idl
     /usr/share/openrtm-1.2/idl/BasicDataType.idl
     /usr/share/openrtm-1.2/idl/CameraCommonInterface.idl
     ...
     /usr/share/openrtm-1.2/idl/SharedMemory.idl
  • Lincense etc.
     /usr/share/doc/openrtm-aist-idl/changelog.Debian.gz
     /usr/share/doc/openrtm-aist-idl/changelog.gz
     /usr/share/doc/openrtm-aist-idl/copyright

openrtp

In openrtp installation, since so many files are installed, the listing is not made. Depend on your needs, use the following command.

 $ dpkg -L 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