Download to read offline
More Related Content
170622 02
- 1. 第 2 部 RTコンポーネント作成入門 宮本 信彦 国立研究開発法人産業技術総合研究所 ロボットイノベーション研究センター ロボットソフトウェアプラットフォーム研究チーム
- 2. 22 • スライド (現在見せているスライドと同じもの ) • WEB ページ ( 手順を記載したページ ) – Windows – Ubuntu • インストーラ (Windows 用 ) – OpenRTM-aist のインストールに問題があった場合に使用してください • インストールスクリプト (Ubuntu 用 ) – この講習で使うシミュレータのインストールスクリプト • ツール (Visual Studio 2013 以外の場合に使用してください ) – OpenRTMEnvTool_vc10.exe – OpenRTMEnvTool_vc12.exe • EXE – RaspberryPiMouseSimulatorComp.exe( シミュレータ ) • sample – RobotController( 本実習で作成するコンポーネントの見本 ) 資料 (USB メモリで配布 )
- 3. 33 • OpenRTM-aist – OpenRTM-aist-1.1.2-RELEASE_x86.msi –インストール後に再起動する (2 回再起動を必要とする環境もある ) – Visual Studio 2013 以外 (2010 、 2012 、 2015) を使用する場合は環境変数を変更 ( 個別に対応します ) • 「 RTM_VC_VERSION 」を vc10 、 vc11 、 vc13 • ツールで変更可能 (OpenRTM-aist トップページ→ダウンロード→ OpenRTM-aist (C++ 版 ))→1,1,2-RELEASE→ ツールを使った「 RTM_VC_VERSION 」設定手順 • Python – python-2.7.10.msi • 2.7.11 は不具合が発生するため非推奨 – ※OpenRTM-aist の 32bit 版をインストールする場合 Python も 32bit 版をインストールする。 OpenRTM-aist の 64bit をインストールする場合は Python も 64bit 版をインストールする。 • PyYAML – PyYAML-3.11.win32-py2.7.exe • CMake – cmake-3.5.2-win32-x86.msi • Doxygen – doxygen-1.8.11-setup.exe • Visual Studio – Visual Studio 2013 Community Edition インストールの確認 (Windows)
- 4. 44 Visual Studio 2013以外を使う場 合• ツール – OpenRTMEnvTool_vc12.exe
- 5. 55 • OpenRTM-aist – $sudo sh pkg_install_ubuntu.sh • CMake – $ sudo apt-get install cmake cmake-gui • Doxygen – $ sudo apt-get install doxygen • RT System Editor 、 RTC Builder – eclipse442-openrtp112v20160526-ja-linux-gtk-x86_64.tar.gz を適当な場所に展開 • Java – $ sudo apt-get default-jre • OpenCV – $ sudo apt-get install libopencv-dev libcv2.4 libcvaux2.4 libhighgui2.4 • OpenCV のサンプルコンポーネント – 自分でビルドする • $ svn co http://svn.openrtm.org/ImageProcessing/trunk/ImageProcessing/opencv/ • $ cd opencv • $ mkdir work • $ cd work • $ cmake .. • $ make • $ sudo make install • Code::Blocks( 任意 ) – $ sudo apt-get install codeblocks インストールの確認 (Ubuntu)
- 6. 66 • シミュレータ上の車輪型移動ロボット (RaspberryPi マ ウス ) の操作を行うコンポーネントの作成 – GUI により目標速度入力 – センサ値が一定以上の場合に停止 実習内容
- 7. 77 • RTC Builderによるソースコード等のひな型の作成 • ソースコードの編集、ビルド – ビルドに必要な各種ファイルを生成 • CMakeLists.txt の編集 • CMake により各種ファイル生成 – ソースコードの編集 • RobotController.h 、 RobotController.cpp の編集 – ビルド • Visual Studio 、 Code::Blocks • RT システムエディタによる RT システム作成、動作 確認 – RT システム作成 • データポート接続、コンフィギュレーションパラメータ設定 全体の手順
- 8.
- 9. 99 • コンポーネントのプロファイル情報を入力し，ソースコード等の ひな型を生成するツール – C++、 Python 、 Java のソースコードを出力 RTC Builder
- 10. 1010 RTC Builder の起動 •起動する手順 – Windows 7 • 「スタート」→「すべてのプログラム」→「 OpenRTM-aist 1.1.2 」→「 Tools 」→「 OpenRTP 」 – Windows 8.1 • 「スタート」→「アプリビュー ( 右下矢印 ) 」→「 OpenRTM-aist 1.1.2 」 →「 OpenRTP 」 • ※ 同じフォルダに「 RTSystemEditorRCP 」がありますが、これは RTC Builder が使えないので今回は「 OpenRTP 」を起動してください。 – Ubuntu • Eclipse を展開したディレクトリに移動して以下のコマンド • $ ./openrtp
- 11. 1111 • Windows 8.1 RTCBuilder の起動 デスクトップ スタート画面 アプリビュー
- 12.
- 13.
- 14.
- 15. 1515 プロジェクト作成 • RobotController コンポーネントのスケルトンコードを作成 する。 –車輪型移動ロボット操作コンポーネント • GUI でロボットを操作 • センサ値が一定以上の場合に停止
- 16. 1616 資料 • USB メモリで配布 –「 WEB ページ」フォルダの HTML ファイルを開く • Windows/ チュートリアル (Raspberry Pi Mouse 、 Windows 、強化月間用 ) _ OpenRTM- aist.html • Ubuntu/ チュートリアル (Raspberry Pi Mouse 、 Ubuntu 、強化月間用 ) _ OpenRTM- aist.html • もしくは RT ミドルウェア講習会のページからリンクをクリック – チュートリアル（ Raspberry Pi マウスシミュレータ Windows 編） – チュートリアル（ Raspberry Pi マウスシミュレータ Linux 編）
- 17. 1717 プロジェクト作成 • Eclipse 起動時にワークスペースに指定したディレクトリに「RobotController 」 というフォルダが作成される – この時点では「 RTC.xml 」と「 .project 」のみが生成されている • 以下の項目が設定する – 基本プロファイル – アクティビティ・プロファイル – データポート・プロファイル – サービスポート・プロファイル – コンフィギュレーション – ドキュメント – 言語環境 – RTC.xml
- 18. 1818 基本プロファイルの入力 • RT コンポーネントのプロファイル情報など，コンポーネントの基本情報を 設定． •コード生成，インポート / エクスポート，パッケージング処理を実行
- 19. 1919 基本プロファイルの入力 • モジュール名 – RobotController •モジュール概要 – 任意 (Robot Controller Component) • バージョン – 任意 (1.0.0) • ベンダ名 – 任意 • モジュールカテゴリ – 任意 (Controller) • コンポーネント型 – STATIC • アクティビティ型 – PERIODIC • コンポーネントの種類 – DataFlow • 最大インスタンス数 – 1 • 実行型 – PeriodicExecutionContext • 実行周期 – 1000.0 • 概要 – 任意
- 20.
- 21. 2121 アクティビティの設定 コールバック関数 処理 onInitialize 初期化処理 onActivatedアクティブ化されるとき 1 度だけ呼ばれる onExecute アクティブ状態時に周期的に呼ばれる onDeactivated 非アクティブ化されるとき 1 度だけ呼ばれる onAborting ERROR 状態に入る前に 1 度だけ呼ばれる onReset reset される時に 1 度だけ呼ばれる onError ERROR 状態のときに周期的に呼ばれる onFinalize 終了時に 1 度だけ呼ばれる onStateUpdate onExecute の後毎回呼ばれる onRateChanged ExecutionContext の rate が変更されたとき 1 度だけ呼ばれる onStartup ExecutionContext が実行を開始するとき 1 度 だけ呼ばれる onShutdown ExecutionContext が実行を停止するとき 1 度 だけ呼ばれる
- 22. 2222 アクティビティの設定 • 以下のアクティビティを有効にする – onInitialize –onActivated – onDeactivated – onExecute • Documentation は適当に書いておいて ください – 空白でも大丈夫です
- 23. データポートの設定 • データポートを追加する手順 • InPort、 OutPort の追加、設定を行う
- 24. データポートの設定 • 以下の OutPortを設定する – out • データ型： RTC::TimedVelocity2D • 他の項目は任意 • 以下の InPort を設定する – in • データ型： RTC::TimedShortSeq • 他の項目は任意
- 25. データポートについて • 連続したデータを通信するためのポート • 以下の例はデータフロー型がpush 、サブスクリプション型が flush 、インターフェース型が corba_cdr の場合
- 26. RTC::TimedVelocity2D 型について • ExtendedDataTypes.idlで定義されている移動ロボットの速度を表現す るためのデータ型 – vx: X 軸方向の速度 – vy: Y 軸方向の速度 ( 車輪が横滑りしないと仮定すると 0) – va: Z 軸周りの角速度 vx で直進速度、 va で回転速度を設定
- 27.
- 28. コンフィギュレーションの設定 • 以下のコンフィギュレーショ ンパラメータを設定する – speed_x •データ型： double • デフォルト値： 0.0 • 制約条件： -1.5<x<1.5 • Widget ： slider • Step: 0.01 • 他の項目は任意 – speed_r • データ型： double • デフォルト値： 0.0 • 制約条件： -2.0<x<2.0 • Widget ： slider • Step: 0.01 • 他の項目は任意 GUI( スライダー ) による移動ロボットの操作ができるようにする
- 29. コンフィギュレーションパラメータ の制約、 Widget の設定 •制約条件： 0<=x<=100 • Widget ： slider • Step ： 10 • 制約条件： 0<=x<=100 • Widget ： spin • Step ： 10 • Widget ： text • RT System Editor でコンフィギュレーションパラメータ を編集する際に GUI を表示する
- 30. コンフィギュレーションパラメータ の制約、 Widget の設定 •制約条件： (0,1,2,3) • Widget ： checkbox • 制約条件： (0,1,2,3) • Widget ： ordered_list • 制約条件： (0,1,2,3) • Widget ： radio
- 31. コンフィギュレーションの設定 • 以下のコンフィギュレー ションパラメータを追加 – stop_d •データ型： int • デフォルト値： 30 • 他の項目は任意 センサ値がこの値以上の場合に停止
- 32. Raspberry Pi マウスの距離センサ •Raspberry Pi マウス実機には距離センサが搭載されている – 計測した値は物体までの距離が近いほど大きな値となる • シミュレータでもこのデータに近い値を計算して出力している
- 33.
- 34.
- 35. スケルトンコードの生成 • 基本タブからコード生成ボタ ンを押すことでスケルトン コードが生成される – WorkspaceRobotController以下 に生成 • ソースコード – C++ ソースファイル (.cpp) – ヘッダーファイル (.h) » このソースコードにロボットを操 作する処理を記述する • CMake の設定ファイル – CMakeLists.txt • rtc.conf 、 RobotController.conf • 以下略 – ファイルが生成できているかを 確認してください
- 36.
- 37. 3737 • ビルドに必要な各種ファイルを生成 – CMakeLists.txtの編集 – CMake により各種ファイル生成 • ソースコードの編集 – RobotController.h の編集 – RobotController.cpp の編集 • ビルド – Windows ： Visual Studio – Ubuntu ： Code::Blocks 手順
- 38. 3838 • ビルドに必要な各種ファイルを生成 – CMakeLists.txtに設定を記述 • RTC Builder でスケルトンコードを作成した時に CMakeLists.txt も生成されている CMake
- 39. 3939 • CMake を使用する –Windows 7 • 「スタート」→「すべてのプログラム」→「 CMake 3.5.2 」→「 CMake (cmake- gui) 」 – Windows 8.1 • 「スタート」→「アプリビュー ( 右下矢印 ) 」→「 CMake 3.5.2 」→「 CMake (cmake-gui) 」 – Ubuntu • コマンドで「 cmake-gui 」を入力 ビルドに必要なファイルの生成
- 40. 4040 ビルドに必要なファイルの生成 • CMakeLists.txt をcmake-gui にドラックアンドドロップ – CMakeLists.txt は RTC Builder で生成したプロジェクトのフォルダ ( 例： C:workspaceRobotController)
- 41.
- 42.
- 43.
- 44.
- 45. 4545 ソースコードの編集 • Windows – buildフォルダの「 RobotController.sln 」をダブルクリックして開く • Ubuntu – build フォルダの「 RobotController.cbp 」をダブルクリックして開く
- 46. 4646 ソースコードの編集 • Windows – VisualStudio が起動 • Ubuntu – Code::Blocks が起動
- 47. 4747 ソースコードの編集 • RobotController.h の編集 VisualStudio Code::Blocks
- 48.
- 49. 4949 ソースコードの編集 • RobotController.cpp の編集 –詳細は USB メモリの資料を参考にしてください Visual Studio Code::Blocks
- 50.
- 51.
- 52.
- 53.
- 54. 5454 ソースコードのコンパイル Visual Studio Code::Blocks •成功した場合、実行ファイルが生成される • Windows • buildsrc フォルダの Release( もしくは Debug) フォルダ内に RobotControllerComp.exe が生成される • Ubuntu • build/src フォルダに RobotControllerComp が生成される
- 55.
- 56. 5656 • RTC をGUI で操作するためのツール – データポート、サービスポートの接続 – アクティブ化、非アクティブ化、リセット、終了 – コンフィギュレーションパラメータの操作 – 実行コンテキストの操作 • 実行周期変更 • 実行コンテキストの関連付け – 複合化 – マネージャから RTC を起動 – 作成した RT システムの保存、復元 RT System Editor
- 57.
- 58.
- 59. 5959 RobotController コンポーネントの動作確 認• シミュレータコンポーネントと接続してシミュレータ上のロ ボットを操作するRT システムを作成する – ネームサーバーを起動する – RasPiMouseSimulator コンポーネントを起動する • Windows – 配布 USB メモリの EXE フォルダ内 「 RaspberryPiMouseSimulatorComp.exe 」をダブルクリック • Ubuntu – 配布 USB メモリ内のスクリプトでインストール » $ sh install_raspimouse_simulator_offline.sh – RasPiMouseSimulatorRTC に移動して以下のコマンドを実行 » $ build/src/RaspberryPiMouseSimulatorComp – RobotController コンポーネント起動 – RasPiMouseSimulator コンポーネントと RobotController コンポーネントを 接続して「 All Activate 」を行う
- 60. 6060 • オブジェクトを名前で管理するサー ビス – RTCを一意の名前で登録する • RT システムエディタ等のツールはネームサー バーから名前で RTC の参照を取得する ネームサーバーの起動 • 起動する手順 – Windows 7 • 「スタート」→「すべてのプログラム」→「 OpenRTM-aist 1.1.2 」→「 Tools 」→「 Start Naming Service 」 – Windows 8.1 • 「スタート」→「アプリビュー ( 右下矢印 ) 」→「 OpenRTM-aist 1.1.2 」 →「 Start Naming Service 」 – Ubuntu • $ rtm-naming
- 61. 6161 • Windows 8.1 ネームサーバーの起動 デスクトップスタート画面 アプリビュー
- 62.
- 63. 6363 RobotController コンポーネントの動作確 認• シミュレータコンポーネントと接続してシミュレータ上のロボット を操作するRT システムを作成する – ネームサーバーを起動する – RasPiMouseSimulator コンポーネントを起動する • Windows – 配布 USB メモリの EXE フォルダ内 「 RaspberryPiMouseSimulatorComp.exe 」をダブルクリック • Ubuntu – 配布 USB メモリ内のスクリプトでインストール » $sudo sh install_raspimouse_simulator.sh – RasPiMouseSimulatorRTC に移動して以下のコマンドを実行 » build/src/RaspberryPiMouseSimulatorComp – RobotController コンポーネント起動 • Windows – buildsrc フォルダの Release( もしくは Debug) フォルダ内に RobotControllerComp.exe が生成されているためこれを起動する • Ubuntu – build/src フォルダに RobotControllerComp が生成されているためこれ を起動する – RobotController コンポーネント、 RasPiMouseSimulator コンポーネントを接続し て「 All Activate 」を行う
- 64.
- 65.
- 66.
- 67.
- 68. 6868 コンフィギュレーションパラメータ の操作• コンフィギュレーションパラメータを RTシステムエディタから操 作する • 以下の動作ができるか確認 – シミュレータ上のロボットがスライダーで操作できるか？ – ロボットが障害物に近づくと停止するか？
- 69. RT コンポーネントの状態遷移• RTCには以下の状態が存在する – Created • 生成状態 • 実行コンテキストを生成 し、 start() が呼ばれて実行コンテ キストのスレッドが実行中 (Runnning) 状態になる • 自動的に Inactive 状態に遷移する – Inactive • 非活性状態 • activate_component メソッドを 呼び出すと活性状態に遷移する • RT System Editor 上での表示は青 – Active • 活性状態 • onExecute コールバックが実行コ ンテキストにより実行される • リターンコードが RTC_OK 以外 の場合はエラー状態に遷移する • RT System Editor 上での表示は緑 – Error • エラー状態 • onError コールバックが実行コン テキストにより実行される • reset_component メソッドを呼び 出すと非活性状態に遷移する • RT System Editor 上での表示は赤 – 終了状態
- 70. RT コンポーネントの状態遷移 (生成直 後 )
- 71. RT コンポーネントの状態遷移 (アクティ ブ化 )
- 72.
- 73. システムの復元 • 以下の内容を復元 – ポート間の接続 –コンフィギュレーション – 「 Open and Create Restore 」を選択した場合はマネージャからコンポーネント起動
- 74.
- 75. RT コンポーネントの状態遷移 (非アクティブ 化 )
- 76.
- 77.
- 78. リセット • RTC がエラー状態に遷移した場合にエディタ上には赤く表示される。 •以下の操作で非アクティブ状態に戻す
- 79. RT コンポーネントの状態遷移 (エラー )
- 80. RT コンポーネントの状態遷移 (リセッ ト )
- 81.
- 82.
- 83. サービスポートの設定 • コード生成後、 Pythonの場合は idlcompile.bat(idlcompile.sh) を起動する • インターフェースの設定を行う
- 84. サービスポートの設定 • IDL ファイルについて –プログラミング言語に非依存のインターフェース定義言語 • コンシュマー側でプロバイダ側の echo 、 get_value などのオペ レーションを呼び出す
- 85.
- 86.
- 87. 独自のデータ型の利用 • 独自のデータ型でデータポートの通信を行う手順 – IDLファイルを作成する • MyDataType.idl を任意のフォルダ ( ここでは C:UserDefType) 作成 • 別の IDL ファイルをインクルードしている場合は同じフォルダにコピーす る
- 88. 独自のデータ型の利用 • 独自のデータ型でデータポートの通信を行う手順 – RTCBuilder の設定で IDL ファイルの存在するディレクトリを 追加
- 89.
- 90.
- 91. コネクタプロファイルの設定 項目 設定内容 Name 接続の名称 DataTypeポート間で送受信するデータの 型． ex)TimedOctet,TimedShort など InterfaceType データを送信方法． ex)corba_cdr など DataFlowType データの送信手順． ex)push, pull など SubscriptionType データ送信タイミング．送信方法が Push の場合有効． New, Periodic, Flush から選 択 Push Rate データ送信周期 ( 単位： Hz) ． SubscriptionType が Periodic の場 合のみ有効 Push Policy データ送信ポリシー． SubscriptionType が New ， Periodic の場合のみ有効． all ， fifo ， skip ， new から選択 Skip Count 送信データスキップ数． Push Policy が Skip の場合のみ有効
- 92. コネクタプロファイルの設定• InterfaceTye – データの送信方法 –1.1.2 では corba_cdr(CORBA による通信 ) のみ選択可能 – 1.2.0 では以下の通信方法も選択可能になる予定 • direct( 同一プロセスで起動した RTC 間でデータを直接変数に渡す ) • shared_memory( 共有メモリによる通信 ) • DataFlowType – データの送信手順 • Push – OutPort が InPort にデータを送る • Pull – InPort が OutPort に問い合わせてデータを受け取る • SubscriptionType – データ送信タイミング (DataFlowType が Push 型のみ有効 ) • flush( 同期 ) – バッファを介さず即座に同期的に送信 • new( 非同期 ) – バッファ内に新規データが格納されたタイミングで送信 • periodic( 非同期 ) – 一定周期で定期的にデータを送信 • Push Policy(SubscriptionType が new 、 periodic のみ有効 ) – データ送信ポリシー • all – バッファ内のデータを一括送信 • fifo – バッファ内のデータを FIFO で１個ずつ送信 • skip – バッファ内のデータを間引いて送信 • new – バッファ内のデータの最新値を送信 ( 古い値は捨てられる )
- 93.
- 94. コネクタプロファイルの設定 • SubscriptionType – flush(同期 ) – new 、 periodic( 非同期 )
- 95. コネクタプロファイルの設定 項目 設定内容 Buffer lengthバッファの大きさ Buffer full policy データ書き込み時に， バッファフルだった場合 の処 理． overwrite ， do_not hing ， block から選択 Buffer write timeout データ書き込み時に，タ イムアウトイベントを発 生させるまでの時間 ( 単 位 : 秒 ) Buffer empty policy データ読み出し時に， バッファが空だった場合 の処 理． readback ， do_not hing ， block から選択 Buffer read timeout データ読み出し時に，タ イムアウトイベントを発 生させるまでの時間 ( 単
- 96. サービスポートについて • コマンドレベルのやり取りを行うための仕組み – 任意のタイミングで操作を行いたい時などに使用 •例えばロボットアームのサーボを停止させる、ハンドを閉じる等 • コンシューマ側がプロバイダ側が提供する関数群 ( オ ペレーション、メソッド ) を呼び出す • インターフェースは IDL ファイルで定義する。
- 97.
- 98. コンフィギュレーションパラメータにつ いて • パラメータを外部から操作する仕組み – コンポーネント作成後に変更が必要なパラメータを設定する •例えばデバイスが接続されている COM ポート番号の設定等
- 99.
- 100.
- 101. マネージャの操作 • CameraViewerComp.exe 、OpenCVCameraComp.exe のプロセ スではマネージャが起動している – マネージャがコンポーネントを起動する
- 102.
- 103. マネージャの操作 • マスターマネージャの起動、 RTSystem Editor から の操作による RTC の生成までの手順を説明する – rtc.conf の設定 • 「 manager.is_master 」を「 YES 」に設定して起動するマネージャを マスターに設定する – manager.is_master: YES • モジュール探索パスの設定 – manager.modules.load_path: ., C:Program Files (x86)OpenRTM- aist1.1.2ComponentsC++Examplesvc12 – 作成した rtc.conf を設定ファイルの指定して rtcd.exe を起動 する • rtcd はコマンドプロンプトから rtcd.exe を入力するか、 OpenRTM-aist をインストールしたフォルダからコピーして使用する • rtcd はマネージャの起動のみを行う – ～ Comp.exe は起動時に特定のコンポーネントの起動も行う • RT Syetem Editor のネームサービスビューにマネージャが表示される
- 104.
- 105.
- 106.
- 107.
- 108.
- 109. 実行コンテキストの操作 • 実行コンテキストの関連付け – RTC起動時に生成した実行コンテキスト以外の実行コンテキストと関連付け •関連付けた実行コンテキストでRTCを駆動させる – 他のRTCとの実行を同期させる
- 110.
- 111.
- 112. 複合コンポーネントの操作 • 複合コンポーネントの生成 • Type –以下の3種類から選択可能 • PeriodicECShared – 実行コンテキストの共有 • PeriodicStateShared – 実行コンテキスト、状態の共有 • Grouping – グループ化のみ
- 113.
- 114.
- 115.
- 116. RT System Editorに関する設定
Editor's Notes
- #8 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #10 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #11 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #12 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #13 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #14 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #15 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #16 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #17 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #18 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #19 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #20 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #21 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #22 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #23 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #24 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #25 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #26 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #27 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #28 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #29 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #30 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #31 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #32 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #33 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #34 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #35 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #36 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #38 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #39 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #40 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #41 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #42 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #43 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #44 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #45 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #46 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #47 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #48 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #49 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #50 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #51 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #52 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #53 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #54 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #55 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #57 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #58 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #59 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #60 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #61 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #62 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #63 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #64 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #65 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #66 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #67 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #68 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #69 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #70 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #71 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #72 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #73 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #74 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #75 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #76 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #77 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #79 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #80 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #81 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #82 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #83 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #84 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #85 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #86 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #87 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #88 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #89 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #90 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #92 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #93 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #94 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #95 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #96 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #97 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #98 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #99 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #100 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #101 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #102 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #103 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #104 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #105 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #106 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #107 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #108 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #109 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #110 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #111 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #112 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #113 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #114 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #115 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #116 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.
- #117 At first, I’d like to mention about RT. What is RT? RT means Robot Technology. This is not only standalone robots like this, but also robotic elements, sensors, actuators and so on. We have studied on RT-Middleware. RT-Middleware is software platform to integrate these RT-elements.