IIOP通信以外でrtcname形式、rtcloc形式でRTCへアクセスできるようにする by Nobu19800 · Pull Request #257 · OpenRTM/OpenRTM-aist-Python

Nobu19800 · 2022-01-23T22:14:42Z

Identify the Bug

Description of the Change

以下と同じ。

IIOP通信以外でrtcname形式、rtcloc形式でRTCへアクセスできるようにする OpenRTM-aist#1015

Verification

Did you succeed the build?
No warnings for the build?
Have you passed the unit tests?

n-kawauchi

rtcname形式で、RTC間が接続されません。このPRソースを最新masterにマージしての確認です。

$ git log --oneline
fc93b6a (HEAD -> master) Merge branch 'feature/supoorthttpssl'
b28adeb (origin/master, origin/HEAD) Merge pull request #331 from Nobu19800/bugs/inscanoption

ネームサーバ起動

$ systemctl status omniorb-nameserver.service
$ sudo systemctl stop omniorb-nameserver.service
$ /usr/bin/openrtmNames -f /usr/etc/rtc.names.http.conf

ConsoleIn起動

$ mkdir pytest257
$ cd pytest257/
$ cp -r /usr/share/openrtm-2.1/components/python3/* .
$ cd SimpleIO/
$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.conf

ConsoleOut起動

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcname.http://localhost:2809/ConsoleIn0.out" 
出力なし

参考のためIIOP通信時のrtcname形式を確認しましたが、こちらは問題なく接続できています。

$ sudo systemctl start omniorb-nameserver.service
$ python3 ConsoleIn.py
$ python3 ConsoleOut.py -o "manager.components.preconnect:ConsoleOut0.in?port=rtcname://localhost:2809/ConsoleIn0.out"
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcname://localhost:2809/ConsoleIn0.out
    ：

Nobu19800 · 2026-04-14T08:29:51Z

OpenRTM/OpenRTM-aist#1015
このプルリクエストと同様の修正を追加しました。
動作確認をお願いします。

@n-kawauchi

n-kawauchi · 2026-04-16T06:36:54Z

@Nobu19800

httpのrtcname形式で接続を確認できません。ターミナルに「ON_CONNECT」と出力された後すぐに「ON_DISCONNECT」となってしまいます。manager.components.preconnectで渡す引数の指定が間違っているのでしょうか？
この時のRTCのログも参考までに添付します。Ubuntu24.04環境での確認です。

rtc5935.log.txt

下記手順で行いました

httpのrtcname形式確認・・・NG

端末1

$ sudo systemctl stop omniorb-nameserver.service
$ /usr/bin/openrtmNames -f /usr/etc/rtc.names.http.conf

端末2

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.conf

端末3

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcname.http://localhost:2809/call#`hostname`.host_cxt/ConsoleIn0.out"
   ：
------------------------------
Connector Listener: ON_CONNECT
Profile::name:      ConsoleOut0.in?port=rtcname.http://localhost:2809/call#thinkpad-6.host_cxt/ConsoleIn0.out
Profile::id:     7f912c23-395b-11f1-bf4e-a81e84b648f3
   ：
------------------------------
Listener:        ON_DISCONNECT
Profile::name:   ConsoleOut0.in?port=rtcname.http://localhost:2809/call#thinkpad-6.host_cxt/ConsoleIn0.out
Profile::id:     7f912c23-395b-11f1-bf4e-a81e84b648f3

Nobu19800 · 2026-04-19T23:42:10Z

念のため、/usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.confの内容を見せてください。
@n-kawauchi

n-kawauchi · 2026-04-21T00:49:13Z

@Nobu19800

/usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.confの内容です

logger.enable: YES
logger.log_level: DEBUG
#logger.file_name: stdout

manager.modules.load_path: /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http
manager.preload.modules: HTTPTransport.py

corba.args:-ORBserverTransportRule "* http" -ORBclientTransportRule "* http" -ORBendPoint giop:http:http:///call
corba.nameservers: http://127.0.0.1:2809/call
corba.master_manager: giop:http:http://127.0.0.1:2810/call

Nobu19800 · 2026-04-21T05:33:05Z

原因は分かりませんが、更新したファイルと内容が違います。
どういう手順でインストールしましたか？

https://github.com/Nobu19800/OpenRTM-aist-Python/blob/c46f0531bf9673e380b9b07b7491b5e059e92022/OpenRTM_aist/ext/http/rtc.http.conf#L8-L10

@n-kawauchi

n-kawauchi · 2026-04-21T07:27:13Z

@Nobu19800

原因が分かりました。debパッケージ生成時に含めるconfファイルは下記で管理していてこれが更新されていなかったためです。
OpenRTM-aist-Python/packages/deb/conf/http/
OpenRTM-aist-Python/packages/deb/conf/ssl/

この構成にした理由は下記に記しています。
#254 (comment)

debパッケージ生成ビルドはdockerで行っていて、生成されたwhlをローカルへインストールし、
必要なファイルを集めています。

WORKDIR /root/OpenRTM-aist-Python
RUN python3 -m build \
 && cd dist \
 && python3 -m pip install --no-index --prefix=./ openrtm_aist_python-${VERSION}-py3-none-any.whl \

こうするとインストールされたrtc.http.confは以下の内容になってしまい、このままでは使えず
現状の設定にしました。しかし今回のような事故は起こりますよね。どのようにしたらよいでしょうか？

manager.modules.load_path: ./
manager.preload.modules: HTTPTransport.py

Nobu19800 · 2026-04-21T08:47:46Z

packages/deb/conf/のファイルはシンボリックリンクにすることはできないのですか？

@n-kawauchi

n-kawauchi · 2026-04-24T08:04:55Z

@Nobu19800

debパッケージに含めるconfファイルを更新の修正を加え、最新masterソースへマージして生成したdebパッケージをインストールして動作確認しました。（Ubuntu24.04）
確認の途中ですがエラーになるケースが2件ありましたので最後まで確認せずにお知らせします。
httpのrtcname形式確認・・・OK
httpのrtcloc形式確認・・・OK
httpsのrtcname形式確認・・・OK
httpsのrtcloc形式確認・・・NG
wsのrtcname形式確認・・・NG

動作確認手順の詳細は下記の通りです。NGだったケースはRTCのログを添付します。

httpのrtcname形式確認・・・OK

端末1

$ sudo systemctl stop omniorb-nameserver.service
$ /usr/bin/openrtmNames -f /usr/etc/rtc.names.http.conf

端末2

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.conf

端末3

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcname.http://localhost:2809/call#`hostname`.host_cxt/ConsoleIn0.out"
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcname.http://localhost:2809/call#thinkpad-6.host_cxt/ConsoleIn0.out
Profile::id:     1cb28c1a-3f9a-11f1-88ba-a81e84b648f3

httpのrtcloc形式確認・・・OK

端末1 : openrtmNamesプロセス起動中

端末2

$ rtcd2_python -d -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.conf

端末3

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.conf

端末4

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.http.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcloc.http://localhost:2810/call#example/ConsoleIn0.out" -o "naming.type:manager"
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcloc.http://localhost:2810/call#example/ConsoleIn0.out
Profile::id:     676f92fb-3f9d-11f1-b6ed-a81e84b648f3

httpsのrtcname形式確認・・・OK

端末1

$ /usr/bin/openrtmNames -f /usr/etc/rtc.names.https.conf

端末2

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.https.conf

端末3

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.https.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcname.https://localhost:2809/call#`hostname`.host_cxt/ConsoleIn0.out"
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcname.https://localhost:2809/call#thinkpad-6.host_cxt/ConsoleIn0.out
Profile::id:     c6e4fbec-3f9e-11f1-b1c2-a81e84b648f3

httpsのrtcloc形式確認・・・NG

端末1 : openrtmNamesプロセス起動中

端末2

$ rtcd2_python -d -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.https.conf

端末3

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.https.conf

端末4

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.https.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcloc.http://localhost:2810/call#example/ConsoleIn0.out" -o "naming.type:manager"
何も出力されない。RTCのログを見ると下記が出力されていた。
2026-04-24 16:42:30,351 file.manager.namingonmanager INFO URI: rtcloc.http://localhost:2810/call#example/ConsoleIn0, Address: http://localhost:2810/call, Name: example/ConsoleIn0
2026-04-24 16:42:30,355 file.manager.namingonmanager DEBUG Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/OpenRTM_aist/NamingManager.py", line 582, in getManager
    mgr = mobj._narrow(RTM.Manager)
          ^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/omniORB/CORBA.py", line 584, in _narrow
    return self._obj.narrow(repoId, 1)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
omniORB.CORBA._omni_sys_exc: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)

2026-04-24 16:42:30,356 file.manager ERROR rtcloc.http://localhost:2810/call#example/ConsoleIn0 not found.

この時のログ: rtc70969.log.txt

wsのrtcname形式確認・・・NG

端末1

$ /usr/bin/openrtmNames -f /usr/etc/rtc.names.ws.conf

端末2

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.ws.conf

端末3

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.ws.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcname.http://localhost:2809/call#`hostname`.host_cxt/ConsoleIn0.out"
2026-04-24 16:45:57,268 file.manager.namingmanager INFO NameServer connection succeeded: corba/ws://localhost:2809/ws
2026-04-24 16:45:57,271 file.ManagerServant DEBUG corbaloc: ws://localhost:2810/ws#manager
2026-04-24 16:45:57,275 file.ManagerServant DEBUG Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/OpenRTM_aist/ManagerServant.py", line 1186, in findManager
    mgr = mobj._narrow(RTM.Manager)
          ^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/omniORB/CORBA.py", line 584, in _narrow
    return self._obj.narrow(repoId, 1)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
omniORB.CORBA._omni_sys_exc: CORBA.TRANSIENT(omniORB.TRANSIENT_ConnectFailed, CORBA.COMPLETED_NO)
    ：
2026-04-24 16:45:57,288 file.manager.namingoncorba INFO URI: rtcname.http://localhost:2809/call#thinkpad-6.host_cxt/ConsoleIn0, Address: http://localhost:2809/call, Name: thinkpad-6.host_cxt/ConsoleIn0
2026-04-24 16:45:57,290 file.manager.namingoncorba ERROR Traceback (most recent call last):
  File "/usr/lib/python3/dist-packages/OpenRTM_aist/NamingManager.py", line 340, in string_to_component
    cns = OpenRTM_aist.CorbaNaming(orb, rtcuri.getAddress())
          ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/OpenRTM_aist/CorbaNaming.py", line 92, in __init__
    self._rootContext = obj._narrow(CosNaming.NamingContext)
                        ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
  File "/usr/lib/python3/dist-packages/omniORB/CORBA.py", line 584, in _narrow
    return self._obj.narrow(repoId, 1)
           ^^^^^^^^^^^^^^^^^^^^^^^^^^^
omniORB.CORBA._omni_sys_exc: CORBA.COMM_FAILURE(omniORB.COMM_FAILURE_WaitingForReply, CORBA.COMPLETED_MAYBE)

2026-04-24 15:10:06,318 file.manager ERROR rtcname.http://localhost:2809/call#thinkpad-6.host_cxt/ConsoleIn0 not found.

この時のログ： rtc71350.log.txt

n-kawauchi · 2026-04-28T07:15:16Z

前回NGと報告したものはConsoleOut.py実行時のオプション指定ミスが原因でした。
残りの動作は全てOKを確認できました。

httpsのrtcloc形式確認・・・OK
wsのrtcname形式確認・・・OK
wsのrtcloc形式確認・・・OK
wssのrtcname形式確認・・・OK
wssのrtcloc形式確認・・・OK
ssliopのrtcname形式確認・・・OK
ssliopのrtcloc形式確認・・・OK

動作確認手順の詳細は下記の通りです。

httpsのrtcloc形式確認・・・OK

端末1 : openrtmNamesプロセス起動中

端末2

$ rtcd2_python -d -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.https.conf

端末3

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.https.conf

端末4

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.https.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcloc.https://localhost:2810/call#example/ConsoleIn0.out" -o "naming.type:manager" 
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcloc.https://localhost:2810/call#example/ConsoleIn0.out
Profile::id:     9871c29b-42c0-11f1-8203-a81e84b648f3

wsのrtcname形式確認・・・OK

端末1

$ /usr/bin/openrtmNames -f /usr/etc/rtc.names.ws.conf

端末2

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.ws.conf

端末3

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.ws.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcname.ws://localhost:2809/ws#`hostname`.host_cxt/ConsoleIn0.out" 
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcname.ws://localhost:2809/ws#thinkpad-6.host_cxt/ConsoleIn0.out
Profile::id:     c4ce3ea6-42c1-11f1-a35a-a81e84b648f3

wsのrtcloc形式確認・・・OK

端末1 : openrtmNamesプロセス起動中

端末2

$ rtcd2_python -d -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.ws.conf

端末3

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.ws.conf

端末4

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.ws.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcloc.ws://localhost:2810/ws#example/ConsoleIn0.out" -o "naming.type:manager" 
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcloc.ws://localhost:2810/ws#example/ConsoleIn0.out
Profile::id:     a5f6c8d9-42c2-11f1-bbae-a81e84b648f3

wssのrtcname形式確認・・・OK

端末1

$ /usr/bin/openrtmNames -f /usr/etc/rtc.names.wss.conf

端末2

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.wss.conf

端末3

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.wss.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcname.wss://localhost:2809/ws#`hostname`.host_cxt/ConsoleIn0.out" 
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcname.wss://localhost:2809/ws#thinkpad-6.host_cxt/ConsoleIn0.out
Profile::id:     c016dca8-42c4-11f1-b5ad-a81e84b648f3

wssのrtcloc形式確認・・・OK

端末1 : openrtmNamesプロセス起動中

端末2

$ rtcd2_python -d -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.wss.conf

端末3

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.wss.conf

端末4

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/http/rtc.wss.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcloc.wss://localhost:2810/ws#example/ConsoleIn0.out" -o "naming.type:manager" 
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcloc.wss://localhost:2810/ws#example/ConsoleIn0.out
Profile::id:     c4acb155-42c3-11f1-a65c-a81e84b648f3

ssliopのrtcname形式確認・・・OK

端末1

$ /usr/bin/openrtmNames -f /usr/etc/rtc.names.ssl.conf

端末2

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/ssl/rtc.ssl.conf

端末3

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/ssl/rtc.ssl.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcname.ssliop://localhost:2809/`hostname`.host_cxt/ConsoleIn0.out" 
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcname.ssliop://localhost:2809/thinkpad-6.host_cxt/ConsoleIn0.out
Profile::id:     3bd4f958-42c6-11f1-ab85-a81e84b648f3

ssliopのrtcloc形式確認・・・OK

端末1 : openrtmNamesプロセス起動中

端末2

$ rtcd2_python -d -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/ssl/rtc.ssl.conf

端末3

$ python3 ConsoleIn.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/ssl/rtc.ssl.conf

端末4

$ python3 ConsoleOut.py -f /usr/lib/python3/dist-packages/OpenRTM_aist/ext/ssl/rtc.ssl.conf -o "manager.components.preconnect:ConsoleOut0.in?port=rtcloc.ssliop://localhost:2810/example/ConsoleIn0.out" -o "naming.type:manager" 
------------------------------
Listener:        ON_CONNECT
Profile::name:   ConsoleOut0.in?port=rtcloc.ssliop://localhost:2810/example/ConsoleIn0.out
Profile::id:     2fe53789-42c9-11f1-a394-a81e84b648f3

Nobu19800 added 3 commits January 21, 2022 19:34

Merge branch 'feature/supportvariosaddress' into feature/supoorthttpssl

d75489e

Merge branch 'feature/httptransport' into feature/supoorthttpssl

b9079fd

[compat] support ssl and http transport.

32f578e

Nobu19800 added the enhancement New feature or request label Jan 23, 2022

Nobu19800 requested a review from n-ando January 23, 2022 22:14

Nobu19800 self-assigned this Jan 23, 2022

n-ando previously approved these changes Jan 24, 2022

View reviewed changes

[compat] fixed comment.

18cf2b5

Nobu19800 dismissed n-ando’s stale review via 18cf2b5 February 13, 2022 02:14

Nobu19800 added 4 commits February 18, 2022 00:53

[compat] fixed bugs.

5ff9cee

Merge branch 'bugs/corbanaming' into feature/supoorthttpssl

98edc90

Merge branch 'master' into feature/supoorthttpssl

83732d2

Merge branch 'master' into feature/supoorthttpssl

1d27259

n-kawauchi marked this pull request as ready for review April 9, 2026 06:36

n-kawauchi reviewed Apr 9, 2026

View reviewed changes

[compat]fixed confing files.

c46f053

n-ando previously approved these changes Apr 20, 2026

View reviewed changes

Updated conf files were included in the deb package.

c2fc135

n-kawauchi dismissed n-ando’s stale review via c2fc135 April 24, 2026 06:40

n-kawauchi approved these changes Apr 28, 2026

View reviewed changes

n-ando approved these changes May 11, 2026

View reviewed changes

n-ando merged commit 15601ea into OpenRTM:master May 11, 2026
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IIOP通信以外でrtcname形式、rtcloc形式でRTCへアクセスできるようにする#257

IIOP通信以外でrtcname形式、rtcloc形式でRTCへアクセスできるようにする#257
n-ando merged 10 commits into
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Nobu19800 commented Jan 23, 2022

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n-kawauchi left a comment •

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