Abstract
The OMG Robotic Component Specification defines RT-Component model including "Port". RT-Middleware (RTM): OpenRTM-aist has provided "Service Port" for service oriented communication between RT-Components (RTCs). In this paper, new explicit connection mechanism between "provided interfaces" and "required interfaces" is proposed. A new naming rule for interfaces is introduced, and new connection process is implemented. RTSystemEditor, which is a tool for RTCs manipulation, is improved for this new feature.
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