抄録
RT-Component framework in OpenRTM-aist provides DataPorts (a.k.a. InPort and OutPort) as data-centric communication interface. DataPorts have provided control methods for communication characteristics that vary according to the relation between RT-Components. Some additional functionalities for data exchange are introduced in the newly released OpenRTM-aist-1.0. In this paper, design and implementation of these features are shown and discussed.
