Installation on Vine Linux

vine_logo_en.png
RPM packages are provided for installing the C++ edition of OpenRTM-aist in Vine Linux. The supported distribution versions are listed on the download page. The corresponding versions may change or be discontinued without notice.

There are two methods of installation available:

  • Use the provided install script.
  • Install via the apt-get package manager.

Vine Linux batch installation script

Download the installation script pkg_install [version number] _vine.sh provided by openrtm.org from the download page and execute it with root privilege. This script installs required packages sequentially with apt-get.

It is very convenient because it installs all necessary packages for developing and executing OpenRTM-aist. It is recommended for those who try installing OpenRTM-aist for the first time. However, since all the packages related to OpenRTM - aist are installed, there is a possibility that even unnecessary ones are installed. If you know more, you should install it manually. Below is the installation procedure using the batch installation script.

 > wget [pkg_installXXX.sh download URL]
 > su
 # sh pkg_install1XX_vine.sh
 // Questions will be asked during the procedure. Answer "y" or "Y" when appropriate.

Using rpm

Editing sources.list

A package repository that can be used from apt-get is provided by openrtm.org. This is not included in the default package repositories, so it must be entered into the apt-get settings manually. Append one of the following lines to the file /etc/apt/sources.list:

 rpm http://www.openrtm.org/pub/Linux/Vine/apt x.x/$(ARCH) main

where "x.x" is the Vine version number, e.g. 5.0 for Vine 5.0.

 rpm http://www.openrtm.org/pub/Linux/Vine/apt 5.0/$(ARCH) main

After editing sources.list, follow the procedure given below to install.

 > su
 # apt-get update
 # apt-get install gcc-c++ python
 # apt-get install omniORB omniORB-devel omniORB-servers omniORB-doc
 # apt-get install e2fsprogs e2fsprogs-devel
 # apt-get install OpenRTM-aist OpenRTM-aist-devel OpenRTM-aist-doc OpenRTM-aist-example

Answer "y" or "Y" to questions as appopriate.

Checking the install

To confirm the installation succeeded, use the following command.

 # rpm -q OpenRTM-aist
 OpenRTM-aist-1.0.0-0.vl50

Package details

OpenRTM-aist

openrtm-aistcontains 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 the commands and headers necessary for development 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