Abstract
In this paper, we describe an implementation of OpenRTM-aist with a lightweight CORBA which named RtORB (Robot Technology Object Request Broker). RtORB has implemented in C-language and is required almost half the computational resource of omniORB4 which is most popular CORBA implementation. Then it provides the almost the same performance as omniORB4. RtORB could enable to work RT-Component on various computational platforms.
