Code Generation with RTCBuilder

First, create a project, set the module name, and set the language (C++) in the same way as the normal RTC creation procedure.

Next, turn on the FSM checkbox from the FSM tab. Then press the New button to start the GUI editor.

Right-click in the editor that starts and select Add node.

Right-click the created node and select Edit node.

Change State Name to an appropriate name.

Create multiple nodes by following the same procedure. In the figure below, there are nodes where Toggle Initial and Toggle final are set, but this setting does not seem to change the generated code.

For some nodes, turn on On Entry and On Exit.

You can also define state transitions by dragging and dropping from one node to another.

Close the editor.

After that, generate the code.

Building the RTC

OpenRTM-aist 2.0 is required for the build. Build with OpenRTM-aist by following the procedure below.

• https://openrtm.org/openrtm/en/content/cmake_build_rtm

After that, build the INSTALL project and install it in an appropriate location. To change the installation location, change the CMAKE_INSTALL_PREFIX option.

Run the following commands in the folder where the RTC code was generated.

 mkdir build
 cd build
 set OPENRTM_DIR={directory where OpenRTM-aist is installed}\2.0.0\cmake\
 cmake -G "Visual Studio 15 2017" -A x64 ..
 cmake --build . --config Release

Editing the Code

Under writing

Operation Check Procedure