The development of a robotic system consists of the design of the system and the implementation of the software to operate it. An integrated development platform should be required to make the design and implementation efficient and seamless.

We propose to use the RTC as a standard framework for the development of smart robotic modules with the development tools for the components, and a design tool for robotic hardware, a motion planner for articulated robots and a path planner for mobile robots are constructed using the component architecture. The behavior scenario can be planned interactively as well. The planned motions and behavior are examined on a simulator that can emulate the kinematics, dynamics and the field of view of robots.

The tool chain of OpenRT Platform is shown in Fig.1.

Fig,1 : Overview of OpenRT Platform

We implement each tool of OpenRT platform as a plug-in of Eclipse that is one of the most popular development platforms with GUI and an open source project.

•  IDE for OpenRTM-aist
  

  • RT Component Buider
  • RT Component Debugger
  • RT System Editor

• • OpenRTM-aist
  • RtORB

• Development tools for an applications

  •  [[Simulator (OpenHRP3.1)>OpenHRP3]]
    

  •  Motion Planners
    

    •  [[Motion Planner>MotionPlanner]]
      

    •  [[Path Planner>PathPlanner]]
      

  • Scenario Editor
  • Hardware Design Tool
  • RT Repository