Installation on Fedora

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OpenRTM-aist for C++ is provided with RPM package available on Fedora Linux. The supported Fedora Linux version can be checked from the download page. Please understand beforehand that correspondence to Fedora Linux and its version may be changed or suspended without notice.

OpenRTM-aist version 1.2.0 or later, batch installation script is scheduled to be supported.

There are two types of installation methods in Fedora Linux roughly divided as follows.
  • Use the provided install script.
  • Install via the 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 privilege. This script installs required packages sequentially with yum.

It is very convenient because it installs all necessary packages for developing and executing OpenRTM-aist. By specifying the option, it is now possible to install the package according to the purpose, so it is also recommended for those who try to install OpenRTM - aist for the first time and compile the source.

However, since all the packages related to OpenRTM - aist are installed, there is a possibility that even unnecessary ones are installed. People who understand in detail should install it manually.

For detailed options and types of packages, please check here

Using yum

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

A package repository that can be used from yum is provided by openrtm.org. This is not included in the default package repositories, so it must be entered into the yum settings manually. Enter the following lines to the file /etc/yum.repos.d/openrtm.repo:

 [openrtm]
 name=Fedora $releasever - $basearch
 failovermethod=priority
 baseurl=http://www.openrtm.org/pub/Linux/Fedora/releases/$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-KEYCENTER:''/etc/yum.repos.d/openrtm.repo''

Install with yum

Follow the procedure given below to install using yum. Answer the questions that are presented appropriately using "y".

 > su
 # yum install gcc-c++ python
 # yum install omniORB omniORB-devel omniORB-doc omniORB-servers omniORB-utils omniORB-bootscripts
 # yum install OpenRTM-aist OpenRTM-aist-devel OpenRTM-aist-doc OpenRTM-aist-example

Checking the install

To confirm the installation succeeded, use the following command.

 # rpm -q OpenRTM-aist
 OpenRTM-aist-1.0.0-0.fcX

Package details

The packages contain the following files.

OpenRTM-aist

openrtm-aist contains the run-time libraries and commands.

  • Sample configuration file.
     /etc/rtc.conf.sample
  • Libraries
     /usr/lib/libRTC-1.0.0.so.0
     /usr/lib/libRTC-1.0.0.so.0.0.4
     /usr/lib/libRTC.a
     /usr/lib/libRTC.la
     /usr/lib/libRTC.so
     /usr/lib/libcoil.a
     /usr/lib/libcoil.la
     /usr/lib/libcoil.so
     /usr/lib/libcoil.so.0
     /usr/lib/libcoil.so.0.0.0

OpenRTM-aist-devel

openrtm-aist-dev contains headers and commands for developing with OpenRTM-aist.

  • Commands
     /usr/bin/coil-config
     /usr/bin/rtc-template
     /usr/bin/rtcd
     /usr/bin/rtcprof
     /usr/bin/rtm-config
     /usr/bin/rtm-naming
     /usr/bin/rtm-skelwrapper
  • Headers
     /usr/include/coil/Allocator.h
     /usr/include/coil/Async.h
     ...
     /usr/include/coil/memory.h
     /usr/include/coil/stringutil.h
     ...
     /usr/include/rtm/BufferBase.h
     /usr/include/rtm/BufferStatus.h
     ...
     /usr/include/rtm/Typename.h
     /usr/include/rtm/config_rtc.h
  • IDL, stubs and skeletons
     /usr/include/rtm/idl/BasicDataType.hh
     /usr/include/rtm/idl/BasicDataType.idl
     ...
     /usr/include/rtm/idl/device_interfaces/RFID.idl
     /usr/include/rtm/idl/device_interfaces/Ranger.idl
  • Libraries
     /usr/lib/OpenRTM-aist/py_helper/README_gen.py
     /usr/lib/OpenRTM-aist/py_helper/README_gen.pyc
     ...
     /usr/lib/OpenRTM-aist/py_helper/yat.pyc
     /usr/lib/OpenRTM-aist/py_helper/yat.pyo
     /usr/lib/pkgconfig/libcoil.pc
     /usr/lib/pkgconfig/openrtm-aist.pc

OpenRTM-aist-doc

openrtm-aist-doc contains the class reference and IDL interfaces reference.

  • Class reference
     /usr/share/OpenRTM-aist/docs/ClassReference/html/ConnectorBase_8h-source.html
     /usr/share/OpenRTM-aist/docs/ClassReference/html/RTC_8h.html
     ...
     /usr/share/OpenRTM-aist/docs/ClassReference-en/html/ConnectorBase_8h-source.html
     /usr/share/OpenRTM-aist/docs/ClassReference-en/html/RTC_8h.html
     ...
     /usr/share/OpenRTM-aist/docs/ClassReference-en/html/FactoryInit_8h-source.html
  • IDL reference
     /usr/share/OpenRTM-aist/docs/IDLReference/html/BasicDataType_8idl-source.html
     ...
     /usr/share/OpenRTM-aist/docs/IDLReference-en/html/BasicDataType_8idl-source.html
     /usr/share/OpenRTM-aist/docs/IDLReference-en/html/structRTC_1_1FsmProfile.html
     ...
     /usr/share/OpenRTM-aist/docs/IDLReference-en/html/interfaceOpenRTM_1_1InPortCdr-members.html

OpenRTM-aist-example

openrtm-aist-example contains standalone and loadable sample RT Components and their source files.

  • Sample standalone components
     /usr/share/OpenRTM-aist/examples/ConsoleOutComp
     /usr/share/OpenRTM-aist/examples/ConsoleInComp
     ...
  • Sample source files
     /usr/share/OpenRTM-aist/examples/src/Composite/README.Motor
     /usr/share/OpenRTM-aist/examples/src/Composite/Makefile.Sensor
     /usr/share/OpenRTM-aist/examples/src/Composite/Motor.cpp
     ...
     /usr/share/OpenRTM-aist/examples/src/SimpleService/Makefile.MyServiceProvider
     /usr/share/OpenRTM-aist/examples/src/SimpleService/rtc.conf
  • Sample loadable components
     /usr/share/OpenRTM-aist/examples/rtcs/MyServiceConsumer.so.0.0.0
     /usr/share/OpenRTM-aist/examples/rtcs/SeqIn.so.0.0.0
     ...
     /usr/share/OpenRTM-aist/examples/rtcs/ConfigSample.so.0.0.0
     /usr/share/OpenRTM-aist/examples/rtcs/ConsoleOut.so.0.0.0

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