#contents

This page describes how to install the communication plugin for SSM (Streaming-data-Sharing-Manager).

The following procedures assume an Ubuntu 18.04 environment.

Installing SSM

Install SSM using the following commands.

git clone https://github.com/sitRyo/Distributed-Streaming-data-Sharing-Manager -b 32-64bit
cd Distributed-Streaming-data-Sharing-Manager/
./configure --prefix=${OPENRTM_INSTALL_DIR}
sudo autoreconf -i -f
make
make install

Building and Installing OpenRTM-aist

Turn ON the SSM_ENABLE option when running CMake. If you want to specify the SSM installation directory, set SSM_ROOT.

cmake -DSSM_ENABLE=ON -DSSM_ROOT=${OPENRTM_INSTALL_DIR} ..

The remaining steps are the same as the standard build procedure.

• OpenRTM-aist Build Procedure

After building, install OpenRTM-aist.

cmake --build . --config Release --target install

Operation Check

Create the following rtc.conf.

manager.modules.load_path: /usr/local/lib/openrtm-2.0/transport/
manager.modules.preload: SSMTransport.so
manager.components.preconnect: ConsoleOut0.in?interface_type=ssm&ssm.stream_name=test_stream&dataflow_type=pull, ConsoleIn0.out?interface_type=ssm&ssm.stream_name=test_stream
manager.components.preactivation: ConsoleOut0, ConsoleIn0

Start ssm-coordinator before launching the RTCs.

ssm-coordinator

Launch ConsoleInComp and ConsoleOutComp from separate terminals to verify that data is transferred correctly.

Connection Options

The following options can be configured in the connector profile when connecting data ports.

Option Name	Default Value	Description
ssm.stream_name	sensor_test
ssm.stream_size	0
ssm.life_ssm_time	5.0
ssm.cycle_ssm_time	0.05
ssm.stream_id	0

Simple Operation Check

When OpenRTM-aist is built and installed, a configuration file for a simple operation check of SSMTransport is installed.

${SSM_INSTALL_DIR}/bin/ssm-coordinator

source ${OPENRTM_INSTALL_DIR}/etc/environment-setup.sh
${OPENRTM_INSTALL_DIR}/share/openrtm-2.0/components/c++/examples/ConsoleOutComp -f ${OPENRTM_INSTALL_DIR}/etc/transport/rtc.ssm.conf