installation on raspberry pi os
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Supported Versions
The versions of Raspberry Pi OS for which packages are currently available are
- Bullseye (32bit / 64bit)
- Bookworm (32bit / 64bit)
.
Preparing the SD Card
For writing the OS image, it is convenient to use Raspberry Pi Imager, a tool that can be downloaded from the official website.
https://www.raspberrypi.com/software/
You can select the following items to download and write the image.
- Base Debian GNU/Linux version (latest / Legacy)
- Whether GUI is included (Desktop / Lite)
- System architecture (32-bit / 64-bit)
Changes in the 2.0 Series
C++ can now coexist between the 1.2 series and the 2.0 series. However, the 1.2 series can be installed only on Buster (32bit).
With this support, the following installation-related items have changed.
- The deb package names for the 2.0 series have been changed
- Python and Java cannot coexist between the 1.2 series and the 2.0 series
- If you use the batch installation script, installed different versions are automatically uninstalled
- The batch installation scripts for the 1.2 series and the 2.0 series have been separated
- Installation of the 1.2 series: pkg_install_raspbian.sh
- Installation of the 2.0 series: openrtm2_install_raspbian.sh
In addition, the installation scripts (for both the 1.2 series and the 2.0 series) now support batch processing from download to installation.
Batch Installation Script
To install the 2.0 series, paste the following into the shell prompt and execute it. The C++ version, Python version, Java version, rtshell, and JDK8 (32-bit environment only) will be installed. The script is not saved locally.
- In a 32-bit environment, even if multiple versions of Java are installed by running the script, it is switched to use Java 8.
- For a 64-bit environment, see the following.
- Installing JDK8: Methods Other Than Obtaining Packages from the Repository
$ bash <(curl -s https://raw.githubusercontent.com/OpenRTM/OpenRTM-aist/master/scripts/openrtm2_install_raspbian.sh)
The following packages are installed by this execution. (For the 32bit version)
$ dpkg -l | grep openrt
ii openrtm2:armhf 2.0.1-0 armhf OpenRTM-aist, RT-Middleware distributed by AIST
ii openrtm2-dev:armhf 2.0.1-0 armhf OpenRTM-aist headers for development
ii openrtm2-doc 2.0.1-0 all Documentation for openrtm2
ii openrtm2-example:armhf 2.0.1-0 armhf OpenRTM-aist examples
ii openrtm2-idl:armhf 2.0.1-0 armhf OpenRTM-aist idls for development
ii openrtm2-java:armhf 2.0.1-0 armhf OpenRTM-aist, RT-Middleware distributed by AIST
ii openrtm2-java-doc 2.0.1-0 all Documentation for openrtm2-java
ii openrtm2-java-example:armhf 2.0.1-0 armhf OpenRTM-aist-Java examples
ii openrtm2-python3 2.0.1-0 armhf OpenRTM-aist, RT-Middleware distributed by AIST
ii openrtm2-python3-doc 2.0.1-0 all Documentation for openrtm2-python3
ii openrtm2-python3-example 2.0.1-0 armhf OpenRTM-aist-Python examples
$ pip3 list | grep aist
OpenRTM-aist-Python 2.0.1
rtctree-aist 4.2.3
rtshell-aist 4.2.9
rtsprofile-aist 4.1.5
Package Details
The contents of each package are as follows.
openrtm2
openrtm-aist includes runtime libraries and commands.
- Commands
/usr/bin/rtcd2 /usr/bin/rtcprof2 /usr/bin/rtm2-config /usr/bin/rtm2-naming - Configuration file samples
/usr/etc/rtc.conf.sample2 /usr/etc/rtc.names.ssl.conf /usr/etc/ssl/rtc.ssl.conf /usr/lib/arm-linux-gnueabihf/pkgconfig/openrtm2.pc - Libraries, etc.
/usr/lib/arm-linux-gnueabihf/libRTC2.a /usr/lib/arm-linux-gnueabihf/libRTC2.so.2.0.0 中略 /usr/lib/arm-linux-gnueabihf/librtmCamera2.so /usr/lib/arm-linux-gnueabihf/librtmManipulator2.so 中略 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/ec/LogicalTimeTriggeredEC.so /usr/lib/arm-linux-gnueabihf/openrtm-2.0/local_service/FileNameservice.so /usr/lib/arm-linux-gnueabihf/openrtm-2.0/sdo/ComponentObserverConsumer.so /usr/lib/arm-linux-gnueabihf/openrtm-2.0/sdo/ExtendedFsmServiceProvider.so /usr/lib/arm-linux-gnueabihf/openrtm-2.0/sdo/LoggerConsumer.so /usr/lib/arm-linux-gnueabihf/openrtm-2.0/ssl/SSLTransport.so 中略 /usr/lib/arm-linux-gnueabihf/openrtm-2.0/sdo/LoggerConsumer.so.0.0.0 /usr/lib/libfluent-bit.so
openrtm2-dev
This package includes commands and headers required for development.
- Command
/usr/bin/rtm2-skelwrapper - Headers
/usr/include/coil-2.0/coil/Affinity.h /usr/include/coil-2.0/coil/Async.h 中略 /usr/include/openrtm-2.0/rtm/BufferBase.h /usr/include/openrtm-2.0/rtm/BufferStatus.h 中略 /usr/include/openrtm-2.0/rtm/config_rtc.h /usr/include/openrtm-2.0/rtm/idl/BasicDataType.hh /usr/include/openrtm-2.0/rtm/idl/BasicDataTypeSkel.h 中略 /usr/include/openrtm-2.0/rtm/idl/SharedMemoryStub.h /usr/include/openrtm-2.0/rtm/version.h - Libraries and other files
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/cmake/OpenRTMConfig.cmake /usr/lib/arm-linux-gnueabihf/openrtm-2.0/cmake/OpenRTMConfigVersion.cmake /usr/lib/arm-linux-gnueabihf/openrtm-2.0/py_helper/skel_wrapper.py /usr/lib/arm-linux-gnueabihf/openrtm-2.0/py_helper/yat.py
openrtm2-idl
- idl files, etc.
/etc/profile.d/openrtm2-idl.sh /usr/include/openrtm-2.0/rtm/idl/BasicDataType.idl /usr/include/openrtm-2.0/rtm/idl/CameraCommonInterface.idl 中略 /usr/include/openrtm-2.0/rtm/idl/SharedMemory.idl /usr/share/openrtm-2.0/idl/BasicDataType.idl /usr/share/openrtm-2.0/idl/CameraCommonInterface.idl 中略 /usr/share/openrtm-2.0/idl/SharedMemory.idl
openrtm2-example
openrtm-aist-example includes samples of both standalone RTCs and loadable RTCs, as well as the source code for sample RTCs.
- Samples (standalone RTCs)
/usr/share/openrtm-2.0/components/c++/examples/CompositeComp /usr/share/openrtm-2.0/components/c++/examples/ConfigSampleComp 中略 /usr/share/openrtm-2.0/components/c++/examples/rtc.conf - Samples (loadable RTCs)
/usr/share/openrtm-2.0/components/c++/examples/rtc/ConfigSample.so /usr/share/openrtm-2.0/components/c++/examples/rtc/ConsoleIn.so 中略 /usr/share/openrtm-2.0/components/c++/examples/rtc/Throughput.so
openrtm2-doc
openrtm-aist-doc includes Japanese and English class references and IDL interface definition references.
- Class reference
/usr/share/openrtm-2.0/doc/c++/ClassReference/html/BufferBase_8h.html /usr/share/openrtm-2.0/doc/c++/ClassReference/html/BufferBase_8h__dep__incl.map 中略 /usr/share/openrtm-2.0/doc/c++/ClassReference/html/structSDOPackage_1_1Organization__impl_1_1sdo__id.html - IDL reference
/usr/share/openrtm-2.0/doc/idl/IDLReference/html/BasicDataType_8idl.html /usr/share/openrtm-2.0/doc/idl/IDLReference/html/BasicDataType_8idl_dep_incl.map 中略 /usr/share/openrtm-2.0/doc/idl/IDLReference/html/unionSDOPackage_1_1Numeric.html - Class reference (English)
/usr/share/openrtm-2.0/doc/c++/ClassReference-en/html/BufferBase_8h.html /usr/share/openrtm-2.0/doc/c++/ClassReference-en/html/BufferBase_8h__dep__incl.map 中略 /usr/share/openrtm-2.0/doc/C++/ClassReference-en/html/version_8h_source.html - IDL reference (English)
/usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/BasicDataType_8idl.html /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/BasicDataType_8idl__dep__incl.map 中略 /usr/share/openrtm-2.0/doc/idl/IDLReference-en/html/unionSDOPackage_1_1Numeric.html
openrtm2-python3
- Commands
/usr/bin/rtcd2_python3 /usr/bin/rtcprof2_python3 - Python modules of the OpenRTM-aist main body
/usr/lib/python3/dist-packages/OpenRTM_aist/* - Python search path file for OpenRTM-aist
/usr/lib/python3/dist-packages/OpenRTM-aist.pth - Utilities
/usr/lib/python3/dist-packages/OpenRTM_aist/utils/__init__.py /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtc-template/* /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtcd/* /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtcprof/* /usr/lib/python3/dist-packages/OpenRTM_aist/utils/rtm-naming/*
openrtm2-python3-example
/usr/share/openrtm-2.0/components/python3/__init__.py
/usr/share/openrtm-2.0/components/python3/component.conf
/usr/share/openrtm-2.0/components/python3/rtcd.conf
/usr/share/openrtm-2.0/components/python3/AutoControl/*
/usr/share/openrtm-2.0/components/python3/AutoTest/*
/usr/share/openrtm-2.0/components/python3/CSPSample/*
/usr/share/openrtm-2.0/components/python3/CSPSelectSample/*
/usr/share/openrtm-2.0/components/python3/CSPStaticFsmSample/*
/usr/share/openrtm-2.0/components/python3/Composite/*
/usr/share/openrtm-2.0/components/python3/ConfigSample/*
/usr/share/openrtm-2.0/components/python3/ExtTrigger/*
/usr/share/openrtm-2.0/components/python3/MobileRobotCanvas/*
/usr/share/openrtm-2.0/components/python3/SeqIO/*
/usr/share/openrtm-2.0/components/python3/Serializer/*
/usr/share/openrtm-2.0/components/python3/SimpleIO/*
/usr/share/openrtm-2.0/components/python3/SimpleService/*
/usr/share/openrtm-2.0/components/python3/Slider_and_Motor/*
/usr/share/openrtm-2.0/components/python3/Throughput/*
/usr/share/openrtm-2.0/components/python3/TkJoyStick/
/usr/share/openrtm-2.0/components/python3/TkLRFViewer/*
openrtm2-python3-doc
Installs English and Japanese class references.
- Class reference
/usr/share/openrtm-2.0/doc/python3/ClassReference-en/html/_async_8py.html /usr/share/openrtm-2.0/doc/python3/ClassReference-en/html/_buffer_base_8py.html 中略 /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_async_8py.html /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_buffer_base_8py.html /usr/share/openrtm-2.0/doc/python3/ClassReference-jp/html/_buffer_status_8py.html 以下略
openrtm2-java
/etc/profile.d/openrtm-java.sh
/usr/bin/rtcd2_java
/usr/bin/rtcprof2_java
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/License.txt
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/LogicalTimeTriggeredEC.jar
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/NameserviceFile.jar
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/OpenRTM-aist-2.0.1.jar
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/commons-cli-1.1.jar
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/jna-4.2.2.jar
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/jna-platform-4.2.2.jar
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/rtcd.jar
/usr/lib/arm-linux-gnueabihf/openrtm-2.0/jar/rtcprof.jar
openrtm2-java-example
Java sample RTCs, Class files, source files, and startup scripts
/usr/share/openrtm-2.0/components/java/*
/usr/share/openrtm-2.0/components/java/RTMExamples/AutoTest/*
/usr/share/openrtm-2.0/components/java/RTMExamples/Composite/*
/usr/share/openrtm-2.0/components/java/RTMExamples/ConfigSample/*
/usr/share/openrtm-2.0/components/java/RTMExamples/ExtTrigger/*
/usr/share/openrtm-2.0/components/java/RTMExamples/Fsm/*
/usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/*
/usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/control/*
/usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/model/*
/usr/share/openrtm-2.0/components/java/RTMExamples/GUIIn/view/*
/usr/share/openrtm-2.0/components/java/RTMExamples/MyService.idl
/usr/share/openrtm-2.0/components/java/RTMExamples/SeqIO/*
/usr/share/openrtm-2.0/components/java/RTMExamples/SeqIO/view/*
/usr/share/openrtm-2.0/components/java/RTMExamples/SimpleIO/*
/usr/share/openrtm-2.0/components/java/RTMExamples/SimpleService/*
/usr/share/openrtm-2.0/components/java/RTMExamples/SinCosOut/*
/usr/share/openrtm-2.0/components/java/RTMExamples/StaticFsm/*
/usr/share/openrtm-2.0/components/java/RTMExamples/Throughput/*
/usr/share/openrtm-2.0/components/java/RTMExamples/TopicTest/*