Install to Ubuntu/Debian

ubuntu_logo2.png

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.

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.

For details on downloading the bulk installation script, detailed installation methods, and the options that can be specified, see Bulk Installation Script.

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.

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,

 $ 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.

  • Commands
     /usr/bin/rtcd
     /usr/bin/rtcprof
     /usr/bin/rtm-config
     /usr/bin/rtm-naming
  • License etc.
     /usr/share/doc/openrtm-aist/changelog.gz
     /usr/share/doc/openrtm-aist/README.Debian
     /usr/share/doc/openrtm-aist/README
     /usr/share/doc/openrtm-aist/README.jp
     /usr/share/doc/openrtm-aist/copyright
     /usr/share/doc/openrtm-aist/changelog.Debian.gz
  • Configuration file sample
     /usr/etc/rtc.conf.sample
  • Libraries
    • 32 bit
       /usr/lib/i386-linux-gnu/libRTC-X.X.X.so
       /usr/lib/i386-linux-gnu/libRTC.a
       /usr/lib/i386-linux-gnu/libRTC.la
       /usr/lib/i386-linux-gnu/libcoil-X.X.X.so
       /usr/lib/i386-linux-gnu/libcoil.a
       /usr/lib/i386-linux-gnu/librtmCamera.a
       /usr/lib/i386-linux-gnu/librtmCamera.la
       /usr/lib/i386-linux-gnu/librtmCamera.so.X.X.X
       /usr/lib/i386-linux-gnu/librtmManipulator.a
       /usr/lib/i386-linux-gnu/librtmManipulator.la
       /usr/lib/i386-linux-gnu/librtmManipulator.so.X.X.X
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/FileNameservice.la
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/FileNameservice.so.X.X.X
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.a
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.la
       /usr/lib/i386-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.so.X.X.X
       /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.X.X.X
       /usr/lib/i386-linux-gnu/openrtm-1.2/ssl/SSLTransport.la
       /usr/lib/i386-linux-gnu/openrtm-1.2/ssl/SSLTransport.so.X.X.X
       /usr/lib/i386-linux-gnu/pigconfig/openrtm-aist.pc
    • 64 bit
       /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/libRTC.la
       /usr/lib/x86_64-linux-gnu/libcoil-X.X.X.so
       /usr/lib/x86_64-linux-gnu/libcoil.a
       /usr/lib/x86_64-linux-gnu/librtmCamera.a
       /usr/lib/x86_64-linux-gnu/librtmCamera.la
       /usr/lib/x86_64-linux-gnu/librtmCamera.so.X.X.X
       /usr/lib/x86_64-linux-gnu/librtmManipulator.a
       /usr/lib/x86_64-linux-gnu/librtmManipulator.la
       /usr/lib/x86_64-linux-gnu/librtmManipulator.so.X.X.X
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.la
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/FileNameservice.so.X.X.X
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.a
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.la
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ec/LogicalTimeTriggeredEC.so.X.X.X
       /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.X.X.X
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ssl/SSLTransport.la
       /usr/lib/x86_64-linux-gnu/openrtm-1.2/ssl/SSLTransport.so.X.X.X
       /usr/lib/x86_64-linux-gnu/pigconfig/openrtm-aist.pc

openrtm-aist-dev

openrtm-aist-dev package includes commands and header files which are needed for software development.

  • Commands
     /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-aist-dev/copyright
  • 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
    • 32 bit
       /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
       
    • 64 bit
       /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-python

  • Commands
     /usr/bin/rtcd_python
     /usr/bin/rtcprof_python
  • OpenRTM-aist main modules
     usr/lib/python2.7/dist-packages/OpenRTM-aist/*
  • Python search path file for OpenRTM-aist
     /usr/lib/python2.7/dist-packages/OpenRTM_aist.ph
  • Utilities
     /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/__init__.py
     /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtc-template/*
     /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtcd/*
     /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtcprof/*
     /usr/lib/python2.7/dist-packages/OpenRTM_aist/utils/rtm-naming/*

openrtm-aist-python-example

 /usr/share/openrtm-1.2/components/python/__init__.py
 /usr/share/openrtm-1.2/components/python/rtcd.conf
 /usr/share/openrtm-1.2/components/python/components.conf
 /usr/share/openrtm-1.2/components/python/AutoControl/*
 /usr/share/openrtm-1.2/components/python/AutoTest/*
 /usr/share/openrtm-1.2/components/python/Composite/*
 /usr/share/openrtm-1.2/components/python/ConfigSample/*
 /usr/share/openrtm-1.2/components/python/ExtTrigger/*
 /usr/share/openrtm-1.2/components/python/MobileRobotCanvas/*
 /usr/share/openrtm-1.2/components/python/SeqIO/*
 /usr/share/openrtm-1.2/components/python/SimpleIO/*
 /usr/share/openrtm-1.2/components/python/SimpleService/*
 /usr/share/openrtm-1.2/components/python/Slider_and_Motor/*
 /usr/share/openrtm-1.2/components/python/Templates/*
 /usr/share/openrtm-1.2/components/python/Throughput/*
 /usr/share/openrtm-1.2/components/python/TkJoyStick/
 /usr/share/openrtm-1.2/components/python/TkLRFViewer/*

openrtm-aist-python-doc

  • Class reference (English)
     /usr/share/openrtm-1.2/doc/python/ClassReference-en/html/_async_8py.html
     /usr/share/openrtm-1.2/doc/python/ClassReference-en/html/_buffer_base_8py.html
     ...
     /usr/share/openrtm-1.2/doc/python/ClassReference-en/html/uuid_8py.html
  • Class reference (Japanese)
     /usr/share/openrtm-1.2/doc/python/ClassReference-jp/html/_async_8py.html
     /usr/share/openrtm-1.2/doc/python/ClassReference-jp/html/_buffer_base_8py.html
     ...
     /usr/share/openrtm-1.2/doc/python/ClassReference-jp/html/uuid_8py.html 

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

rtshell

  • Scripts for the commands
     /usr/local/bin/rtact
     /usr/local/bin/rtcat
     /usr/local/bin/rtcheck
     /usr/local/bin/rtcomp
     /usr/local/bin/rtcon
     /usr/local/bin/rtconf
     /usr/local/bin/rtcryo
     /usr/local/bin/rtdeact
     /usr/local/bin/rtdel
     /usr/local/bin/rtdis
     /usr/local/bin/rtdoc
     /usr/local/bin/rtexit
     /usr/local/bin/rtfind
     /usr/local/bin/rtfsm
     /usr/local/bin/rtinject
     /usr/local/bin/rtlog
     /usr/local/bin/rtls
     /usr/local/bin/rtmgr
     /usr/local/bin/rtprint
     /usr/local/bin/rtpwd
     /usr/local/bin/rtreset
     /usr/local/bin/rtresurrect
     /usr/local/bin/rtshell_post_install
     /usr/local/bin/rtstart
     /usr/local/bin/rtstodot
     /usr/local/bin/rtstop
     /usr/local/bin/rtteardown
     /usr/local/bin/rtvlog
     /usr/local/bin/rtwatch
  • Main code for the commans
     /usr/local/lib/python2.7/dist-packages/rtctree/*
     /usr/local/lib/python2.7/dist-packages/rtshell/*
     /usr/local/lib/python2.7/dist-packages/rtsprofile/*
  • Package information
     /usr/local/lib/python2.7/dist-packages/rtctree_aist-4.2.0.egg-info/*
     /usr/local/lib/python2.7/dist-packages/rtshell_aist-4.2.2.dist-info/*
     /usr/local/lib/python2.7/dist-packages/rtsprofile_aist-4.1.2.dist-info/*

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