RT コンポーネント用 コネクタモジュール取扱説明書 - OpenRTM-aist
Contents
1. ee GS 2 2007 11 OS Vine3 2 kernel 2 4 31 Ov11 8smp CPU Intel Pentium D 2 8GHz Memory 2 0GB RT Middleware OpenRTM aist 0 4 1 RELEASE Python python02 3 4 0v18 1 N omniORBpy omniORBpy 2 7 1 VV VV V Y 3 20 ce OE Clk ConnectorModule WALZ ufrs01 ufrg ConnectorModule tar gz lt WorkDIR gt lt WorkDIR gt tar gz x test Lufrg ufrg01 test Is Lufrg ufrg01 test tar xzvf ConnectorModule tar gz ConnectorModule 32. DataPort DataConnectorpy Connector_Header get comp rit ol j Ome lists Compe G a Get bjectReferencelcone ictelj 1 ListsLi a GetPortsObject Componentsli J Activityli 5 Get Exeout lonContert Sery ces Component sl a k EE Get F ME tF rof ilel l onponent sl j 1 RAS I af conin ie of il corm_out Inport of Consol eQut i _ component 1 OPON ret ntal D E te_com orent Component sf J 14 20 python DataPort test Lae ufrg ufrg01 example Is Pi Lufrg ufrg01 examplel mkdir test ufrg ufrg01 example cp DataPort test ufrg ufrg01 example cd test ufrg ufrg01 testl Is DataConnector py m sh run sh Lufrg ufrg01 test jed DataConnector py A Naming Service 7 ufre01 a02 aist go jp 2809 a Cannect2Nameservicet B Open RTM aist
3. Lufrg ufrg01 ufrg rtm naming 2 Consolem Lufrg ufrg01 Simplel0 ConsolelnComp f rtc conf 3 ConsoleOut ufrg ufrg01 SimplelO ConsoleQutComp f rtc conf A rte link EC RTCLink SystemDiagram Eclipse SDK F N Q P RD 08 AIF mal OL On Bae ae Fy RT RTCLink amp Java NameServiceView 52 ar SystemDiagram 52 O X Tom aT ufrgD1 39 CansalelnHlrtc 39 GonsoleOutO rtc ComponentName ConfigurationSet name EZEZ 6 20 5 Lufrg ufrg01 test cd ConnectorModule examp e ufrg ufrg01 example Is f Lufrg ufrg01 example cd DataPort 6 python ufrg ufrg01 DataPort DataConnector py m sh run sh il a w i hal I i oa ufrg Mufrg01 DataPort _ run sh 7 rtc link _RTCLink SystemDiagram Eclipse SDK Seles mea PEIER SEE ew e D amp ie FE
4. 3 A Connect Activate rtc iink rtc link od 17 20 7 Connector Module example DS run sh DSConnector py run sh DataPort ji DataConnector py run sh NamingServices T NS_Connector py run sh ServicePort ServiceConnector py tutorial i Tutorial_Japanese pdf Tutorial_English pdf common Connector_Header py Connector_Header pyc RTC init RTC idl T _ Init DyC RTC__POA RTC idlpy t py RTC_idl pyc SDOPackage _ _ init__ py SDOPackage idl SDOPackage__POA __ SDOPackage_idl py SDOPackage_idl pyc _ init__ py 18 20 19 20 MyServiceProvider 1p MyServiceProviderap MyServiceProvider 70 MyServiceProviderS0 MyServiceProvider40 MyServiceProvider MhyServiceProvider6ill MyServiceProvider110 University of Teukuba Written by Takayuki SUGAWARA Univ of Tsukuba 10th Dec 2007 20 20
5. Activate RTCLink SystemDiagram Eclipse SDK F REDD M RRA STR ci el MEE ML Sar e W e e FY xr RTCLink amp Java j NameServiceView 3 amp s Si fo ZT ufrg0i 1 MyServiceConsumerO rtc 59 MyServiceProviderO rtc E ConfigurationView 5 RtcLinkLoe View ComponentName ConfigurationSet 11 20 l 2 3 4 Naming Service Naming Service 1 ufrs01 ufrg Naming Service Lufrg ufre01 ufre rtm naming SimpleServiceProvider Lufrg ufrg01 SimpleService MyServiceProviderComp f rtc conf NamingService 2 ufmrp02 arm ufrg Naming Service ufrg ufmrp0 arm ufrgl rtm naming SimpleServiceConsumer Lufrg ufmrp0 arm SimpleService MyServiceConsumerComp f rtc conf rtc hink 4 Naming Service RTCLink SystemDiaeram Eclipse SDK CE CE MN HRA
6. 18 Lufrg ufrg01 test Is Lufrg ufrg01 test cd ConnectorModule Lufrg ufrg01 ConnectorModule Is Lufrg ufrg01 ConnectorModule lf 4 Lufrg ufrg01 test cd ConnectorModule Lufrg ufrg01 ConnectorModule Is rf Lufrg ufrg01 ConnectorModule cd example Lufrg ufrg01 example Is Lufrg ufrg01 example 4 20 6 7 OpenRTM aist 0 4 1 SimpleIO ConsoleInComp ConsoleOutComp SimplelO PataPort ufrg ufrg01 examplel Is Lufrg ufrg01 examplel cd DataPort ufrg ufrg01 DataPort Is DataConnector py m sh run sh ufre ufrg01 DataPort run sh 5 20 4 7 Data Port SimpleIO 1
7. P MRI AJAH ri E SEEE Darak D ee Fj 3T RTCLink NameSeryiceView 52 Ss eT ufmrpO2 arm MyServiceConsumerO rtc TT ufrg1 1 MyServiceProviderO rtc MyServiceProviderO MyServiceConsumerO F ConfigurationView 52 RtcLinkLog View ComponentName GConfigurationSet active config name Value 12 20 6 NamingService Lufrg ufrg01 test cd ConnectorModule examp e Lufrg ufrg01 example Is Lufrg ufrg01 example cd NamingServices 7 python Lufrg ufrg01 NamingServices Is NS Connector py m sh run sh Hi i es run sh Lufrg ufrg01 NamingServic 8 rtc link Activate RTCLink SystemDiaeram Eclipse SDK F FED N fee FP CD Oye gL sr y Ee an ae a D amp if E Ey RT RTCLink NameServiceView 53 ystemDiagram X OJ 7x V S amp T ufmrp02 arm MyServiceConsumerO rtc RT ufrg1 1 MyServiceProviderO rtc MyServiceProyider0 MyServiceConsumerO Configuration view 5 2 RtcLinkLog View GomponentName Lactive config GonfigurationSet a Ba name ae o aog 13 20 RIT IE
8. WindowsXP DataConnector py a Disconnect con_in 0 con_in 0 RT RT URL http www is aist go jp rt OpenRTM aist html E3839EE3838BE383A5E382A2E383AB RTE382B3E383B3E3839DE383BCE3838DE383B3E38388E4BD9CE68890 html Naming Service EHB TE Naming Service 3 Naming Service lt WorkDIR gt test ConnectorModule common Connector_Header py 100 20 lt WorkDIR gt test ConnectorModule common Connector_Header py rtc link
9. Jv SimpletO ConsoleIn0 ConsoleOut0 comp_lists 15 20 C Consolem Inport con_in ConsoleOut Outport con_out pa con_in Lists 01 con_out Lists 1 D Consolem con_in CosoleOut con_out a PortConnect con_inl0 con_outl0 E ConsoleIn act in ConsoleOut act out act_in Activity 0 act_out Activity 1 F Activate LET Consolen actin ConsoleOut act_out Activate act_inLO activate_component Components 0 gt act_out 0 activate_component Components 1 16 20 Q amp A Windows
10. xr RTCLink amp Java 3 3 ee Sn eT o Aim rr SE NameServiceView 52 Oi Ey Sys Be 0l X Se av ufreU1 iE 3 CansalenHlrtc 1 ConsoleOutOlrtc ConsoleOutD F Configurationview 5 2 RtcLink Loe View 7 E ComponentName ConfigurationSet name Value dd De ea Deee i i 7 20 l 4 ServicePort SimpleService Lufrg ufrg01 ufrg rtm naming SimpleServiceProvider Lufrg ufrg01 SimpleService MyServiceProviderComp f rtc conf SimpleServiceConsumer Lufrg ufrg01 SimpleService MyServiceConsumerComp f rtc conf RTCLink SystemDiaeram Eclipse SDK E TET MN HRA FP STR GeV EW AJAH ri ee Oe ean an a Leal P NameService View x cael Wl AT SystemDiagram 52 RT ufrgli ey My ServiceConsumerO rtc 39 MyServiceProviderO rtc MyServiceProviderO MyServiceConsumerO E Configurationview 22 RtcLinkLoe View a ComponentName MySe ConfigurationSet active config hame Add Apply Vale Cancel J o ee 8 20 rtc link EC B z707 R FY AT RTCLink amp Java a 22 MyServiceConsumerD Instance Name My Type Name
11. Description Version Vender Category State ExecutionContext State Kind PE Rate 10C ServicePort Name My portport type Col M PortlInterfaceF Interface f my Type Nam My Port Interf RE Lufrg ufrg01 test cd ConnectorModu e examp lg L ufrg ufrg01 example Is Lufrg ufrg01 mxamplel cd ServicePort python lufrg ufre01 ServicePort Is ServiceConnector py m sh Fun Sh ufrg ufrg01 ServicePort run sh tte link Activate RTCLink SystemDiaeram Eclipse SDK SrtA RED N BRA P ROD DA H lt FY AT RTCLink amp Java 0 X 5m JFF MyServiceConsumerO rtc 39 MyServiceProviderO rtc portport type Gol 48 PortInterfaceF Interface my Type Nam My Port Interf RE E Configurationview 5 RtcLinkLog View GomponentName MySe ConfigurationSet ith As o Apply m 9 20 7 DataPort ServicePort DataPortX1 ServicePortX 1 1 OutPortX 1 ServiceProvider X 1 MyServiceProvider InP
12. RT Version 1 0 There is an English version too MyServiceProwider I MyService Provider al MyServiceProvider 70 MyServiceProviderS0 MyServiceProviderl MyServiceProvider6ill MyServiceProvider110 1 20 1 2 3 4 7 Data Port SimpleIO 1 Service Port SimpleService 7 Data Port Service Port Namins Service 5 A Naming Service B C D E F 6 Q amp A Te 2 20 1 rtc link 0 2 0 python CORBA 1
13. ort X 1 ServiceConsumer X 1 MyServiceConsumer 1 Lufreg ufrg01 ufrg rtm naming 2 SimpleServiceProvider L ufrg ufrg01 Data Smrvicel MyServiceProviderComp f rtc conf 3 SimpleServiceConsumer Lufrg ufrg01 Data Service MyServiceConsumerComp f rtc conf A rte link EC RTCLink SystemDiagram Eclipse SDK FE FED N HRA P TR ri E aig amp e amp W amp it EI aT RTCLink amp Java NameServiceView 52 p aT SystemDiagram X n EE amp m S AT ufrg1 59 MyServiceConsumerO rtc MyServiceProviderO rtc MyServiceProviderO MyServiceConsumerO E CanfigurationView 5 2 RtcLinkLog View a ComponentName ConfigurationSet bey active omte lmme we meni ee sa 10 20 5 Lufrg ufrgO1 test cd ConnectorModule examp e ufrg ufrg01 example Is 4 Lufrg ufrg01 example cd DS 6 python ufrg ufrgO1 DS Is DS_Connector py m sh run sh ufrg ufrg01 DS run sh 7 rte link
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