Install on Fedora

OpenRTM-aist for Java provides an RPM package that is available for Fedora Linux. You can check the supported versions of Fedora Linux on the download page. Please note that the support for Fedora Linux and its version is subject to change or stop without notice.

There are two main installation methods to install Fedora Linux, as follows.
  • Using the bulk installation script provided by openrtm.org
  • using the yum package manager

Bulk installation script

Download the installation script pkg_install_fedora.sh provided by openrtm.org from the download page and run it with root privileges. This script will install the necessary packages one by one using yum.

It is very convenient because it installs all the packages needed to develop and run OpenRTM-aist. option, so you can now install packages that are tailored to your needs. It is recommended whether you are installing OpenRTM-aist for the first time or trying to compile the source.

Please check the page of "Bulk installation script:http" for the download of the batch installation script, detailed installation instructions, and the types of options that can be specified.

A problem has been reported that the required OpenRTM-aist package is not installed when the bulk install script is used with the -l java option. Please follow the steps below to install the software.

 sudo yum install OpenRTM-aist OpenRTM-aist-devel

Install OpenRTP

In the directory where pkg_install_fedora.sh is located, you need to install OpenRTP by using the bulk installation script

 $ sudo sh pkg_install_fedora.sh -l openrtp --yes
You can install OpenRTP by typing

How to use yum

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

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

Create the file /etc/yum.repos.d/openrtm.repo which records the following settings. You usually need root privileges to create them.

 [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

Install with *** yum

Once you have created openrtm.repo, follow the steps below to install it. You will be asked for several responses along the way, so complete them by typing y.

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

Setting environment variables

You need to set environment variables. Add the following line to the .bashrc file in your home directory (when using the 64 bit version)
 export RTM_JAVA_ROOT=/usr/lib64/openrtm-1.2
To enable this setting, please log in again after the installation is complete. About ***JDK8 The installation of the OpenRTM-aist-Java package for Fedora automatically installs OpenJDK8 from Fedora's standard repositories and sets it up as a Java environment to use, but if you want to use other JDKs for licensing and support terms, see the link below.

Finally, confirm the installation with the following command

 # rpm -q OpenRTM-aist
 OpenRTM-aist-1.2.0-0.fcXX.x86_64

Package details

Each package contains the followings.

openrtm-aist

openrtm-aist includes run-time libraries and commands

  • Commands
     /usr/bin/rtcd
     /usr/bin/rtcprof
     /usr/bin/rtm-config
     /usr/bin/rtm-naming
  • Sample configuration file
     /etc/rtc.conf.sample
  • Libraries
     /usr/lib64/libRTC-1.2.0.so
     /usr/lib64/libRTC.a
     ...
     /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
     /usr/lib64/openrtm-1.2/sdo/LoggerConsumer.so.0
     /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 for RT system development.

  • Commands
     /usr/bin/coil-config
     /usr/bin/rtc-template
     /usr/bin/rtm-skelwrapper
  • Header files, etc.
      /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
      /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_helpver/cxx_gen.py
      ...
      /usr/lib/x86_64-linux-gnu/openrtm-1.2/py_helpver/yat.py
      /usr/lib/x86_64-linux-gnu/pkgconfig/libcoil.pc

OpenRTM-aist-Java

  • Commands
     /usr/bin/rtcd_java
     /usr/bin/rtcprof_java
  • jar files
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/License.txt
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/LogicalTimeTriggeredEC.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/NameserviceFile.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/OpenRTM-aist-1.2.0.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/commons-cli-1.1.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/jna-4.2.2.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/jna-platform-4.2.2.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/rtcd.jar
     /usr/lib/x86_64-linux-gnu/openrtm-1.2/jar/rtcprof.jar

OpenRTM-aist-Java-example

Java version sample RTC, the class files, the source files, and the startup script

 /usr/share/openrtm-1.2/components/java/* 
 /usr/share/openrtm-1.2/components/java/RTMExamples/AutoTest/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/Composite/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/ConfigSample/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/ExtTrigger/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/control/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/model/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/GUIIn/view/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/MyService.idl
 /usr/share/openrtm-1.2/components/java/RTMExamples/SeqIO/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SeqIO/view/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SimpleIO/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SimpleService/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/SinCosOut/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/Throughput/*
 /usr/share/openrtm-1.2/components/java/RTMExamples/TopicTest/*

OpenRTM-aist-Java-doc

openrtm-aist-java-doc includes Japanese/English class references

 /usr/share/openrtm-1.2/doc/java/JavaDoc/OpenRTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/OpenRTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/RTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/_SDOPackage/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/_SDOPackage/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/Version.html
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/class-use
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/jp/go/aist/rtm/*
 /usr/share/openrtm-1.2/doc/java/JavaDoc/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/OpenRTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/OpenRTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTM/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/RTM/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/_SDOPackage/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/_SDOPackage/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/index-files/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/Constants.html
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/buffer/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/executionContext/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/log/class-use/Logbuf.html
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/port/publisher/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/RTC/util/clock/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/jp/go/aist/rtm/class-use/*
 /usr/share/openrtm-1.2/doc/java/JavaDocEn/*

openrtp

Since openrtp installs a lot of files, I won't list them here. if necessary

 $ rpm -ql OpenRTP
to confirm for yourself.

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