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

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

October 2, 2011
January 17, 2012
April 20, 2012
RT middleware, RT component

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:
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  10. Supporting Online Materials:
  11. [a] N. Ando, OpenRTM-aist official website,
  12. [b] N. Ando, RTSystemEditor-1.0.0,
  13. [c] Eclipse Foundation. Eclipse – The Eclipse Foundation open source community website,
  14. [d] N. Ando, RTCBuilder-1.0.0,
  15. [e] T. Yoshikai, rtmeus – EusLisp interface for OpenRTM-aist,
  16. [f] G. Biggs, rtctree,
  17. [g] G. Biggs, rtshell,
  18. [h] Willow Garage,,
  19. [i] Object Management Group, Welcome To The OMG’s CORBA Website,
  20. [j] UserLand Software, Inc. Home,
  21. [k] Y. Matsusaka, OpenHRI,
  22. [l] Willow Garage, Repositories,
  23. [m] Willow Garage, OpenCV,
  24. [n] N. Ando, RTSProfile, profile/0.2/rts profile.xsd.

*This site is desgined based on HTML5 and CSS3 for modern browsers, e.g. Chrome, Firefox, Safari, Edge, Opera.

Last updated on Feb. 25, 2021