Development using OpenRTM faces two problems: few support tools are officially provided, and a software distribution policy has not been established thus far. We have developed an OpenRTM developer support tool package, RTMEXTender, which includes a package management system and a launcher mechanism. Its main objective is to provide three functional elements: a package dependency solver, a oneline chain builder using dependency, and a one-line multi-process launcher for large complex RTM systems. In this paper, we introduce the system construction of RTMEXTender and its philosophy, and compare it with ROS tools. Its availability is demonstrated using an example of an image conversion library between OpenRTM and OpenCV.

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Supporting Online Materials:

10. [a] N. Ando, OpenRTM-aist official website, http://www.openrtm.org/.
11. [b] N. Ando, RTSystemEditor-1.0.0, http://www.openrtm.org/openrtm/ja/content/rtsystemeditor-1.
12. [c] Eclipse Foundation. Eclipse – The Eclipse Foundation open source community website, http://www.eclipse.org/.
13. [d] N. Ando, RTCBuilder-1.0.0, http://www.openrtm.org/openrtm/ja/content/rtcbuilder-100.
14. [e] T. Yoshikai, rtmeus – EusLisp interface for OpenRTM-aist, http://code.google.com/p/rtmeus/.
15. [f] G. Biggs, rtctree, http://www.openrtm.org/openrtm/ja/content/rtctree.
16. [g] G. Biggs, rtshell, http://www.openrtm.org/openrtm/ja/content/rtshell.
17. [h] Willow Garage, ROS.org, http://www.ros.org/.
18. [i] Object Management Group, Welcome To The OMG’s CORBA Website, http://www.corba.org/.
19. [j] UserLand Software, Inc. Home, http://xmlrpc.scripting.com/.
20. [k] Y. Matsusaka, OpenHRI, http://openhri.net/.
21. [l] Willow Garage, Repositories, http://www.ros.org/wiki/Repositories.
22. [m] Willow Garage, OpenCV, http://opencv.willowgarage.com/.
23. [n] N. Ando, RTSProfile, http://www.openrtm.org/schema/rts profile/0.2/rts profile.xsd.