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JRM Vol.24 No.2 pp. 408-415
doi: 10.20965/jrm.2012.p0408
(2012)

Development Report:

RTMEXTender: Developer Support Tool for OpenRTM

Hiroaki Yaguchi, Tomoaki Yoshikai, Kei Okada,
and Masayuki Inaba

Graduate School of Information Science and Technology, The University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan

Received:
October 2, 2011
Accepted:
January 17, 2012
Published:
April 20, 2012
Keywords:
RT middleware, RT component
Abstract

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.

Cite this article as:
Hiroaki Yaguchi, Tomoaki Yoshikai, Kei Okada, and
and Masayuki Inaba, “RTMEXTender: Developer Support Tool for OpenRTM,” J. Robot. Mechatron., Vol.24, No.2, pp. 408-415, 2012.
Data files:
References
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  10. Supporting Online Materials:
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  23. [m] Willow Garage, OpenCV, http://opencv.willowgarage.com/.
  24. [n] N. Ando, RTSProfile, http://www.openrtm.org/schema/rts profile/0.2/rts profile.xsd.

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Last updated on Aug. 03, 2021