OpenRTM · n-ando · Mar 31, 2026 · Jan 27, 2022 · Feb 8, 2022 · Feb 9, 2022
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -444,7 +444,7 @@ elseif(CORBA STREQUAL "TAO")
 		set(ORB_INCLUDE_DIR ${ORB_ROOT} ${ORB_ROOT}/TAO ${ORB_ROOT}/TAO/orbsvcs)
 		set(ORB_C_FLAGS_LIST ${ORB_C_FLAGS_LIST} -DWIN32_LEAN_AND_MEAN -DWITH_ACE)
 
-		set(ORB_LIBRARIES_INSTALL ${ORB_LIBRARIES1};TAO_IDL_FE;TAO_IDL_FEd;TAO_IDL_BE;TAO_IDL_BEd;TAO_Codeset;TAO_Codesetd;TAO_HTIOP;TAO_HTIOPd;ACE_HTBP;ACE_HTBPd;)
+		set(ORB_LIBRARIES_INSTALL ${ORB_LIBRARIES1};TAO_IDL_FE;TAO_IDL_FEd;TAO_IDL_BE;TAO_IDL_BEd;TAO_Codeset;TAO_Codesetd;TAO_CosNaming_Skel;TAO_CosNaming_Serv;TAO_CosNaming_Servd;TAO_ImR_Client;TAO_ImR_Clientd;TAO_Messaging;TAO_Messagingd;TAO_Valuetype;TAO_Valuetyped;TAO_IORManip;TAO_IORManipd;TAO_CosNaming_Skeld;TAO_HTIOP;TAO_HTIOPd;ACE_HTBP;ACE_HTBPd;)
 		set(ORB_INSTALL_DIR ${OPENRTM_VERSION}/ACE/${RTM_VC_VER}/)
 		foreach(library ${ORB_LIBRARIES_INSTALL})
 			if((NOT (${library} STREQUAL "optimized")) AND (NOT (${library} STREQUAL "debug")))
@@ -824,12 +824,18 @@ function(openrtm_common_set_compile_options target)
 	)
 endfunction()
 
+if(CORBA STREQUAL "TAO")
+	set(CXX_STANDARD 17)
+else()
+	set(CXX_STANDARD 11)
+endif()
+
 function(openrtm_common_set_compile_props target)
 	openrtm_common_set_compile_definitions(${target})
 	openrtm_common_set_compile_options(${target})
 	set_target_properties(${target} PROPERTIES
 		POSITION_INDEPENDENT_CODE ON
-		CXX_STANDARD 11
+		CXX_STANDARD ${CXX_STANDARD}
 		CXX_EXTENSIONS OFF
 		CXX_STANDARD_REQUIRED ON
 	)
@@ -855,7 +861,7 @@ function(openrtm_gencode_set_compile_props target)
 	openrtm_gencode_set_compile_options(${target})
 	set_target_properties(${target} PROPERTIES
 		POSITION_INDEPENDENT_CODE ON
-		CXX_STANDARD 11
+		CXX_STANDARD ${CXX_STANDARD}
 		CXX_EXTENSIONS OFF
 		CXX_STANDARD_REQUIRED ON
 	)

diff --git a/etc/CMakeLists.txt b/etc/CMakeLists.txt
@@ -8,7 +8,7 @@ else()
 endif()
 
 if(CORBA STREQUAL "TAO")
-	install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/tao_diop/svc.conf DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_diop COMPONENT ext)
+	install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/tao_diop/svc.diop.conf DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_diop COMPONENT ext)
 
 	configure_file(
 		${CMAKE_CURRENT_SOURCE_DIR}/tao_diop/rtc.diop.conf.in ${PROJECT_BINARY_DIR}/rtc.diop.conf @ONLY)
@@ -19,9 +19,15 @@ if(CORBA STREQUAL "TAO")
 
 
 
-	install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/tao_htiop/svc.conf DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_htiop COMPONENT ext)
 	install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/tao_htiop/HT_Config.conf DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_htiop COMPONENT ext)
 
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/tao_htiop/svc.htiop.conf.in ${PROJECT_BINARY_DIR}/svc.htiop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/svc.htiop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_htiop
+		COMPONENT ext)
+
 	configure_file(
 		${CMAKE_CURRENT_SOURCE_DIR}/tao_htiop/rtc.htiop.conf.in ${PROJECT_BINARY_DIR}/rtc.htiop.conf @ONLY)
 	install(
@@ -39,14 +45,14 @@ if(CORBA STREQUAL "TAO")
 		COMPONENT ext)
 
 	configure_file(
-		${CMAKE_CURRENT_SOURCE_DIR}/tao_ssliop/svc.conf.in ${PROJECT_BINARY_DIR}/svc.conf @ONLY)
+		${CMAKE_CURRENT_SOURCE_DIR}/tao_ssliop/svc.ssliop.conf.in ${PROJECT_BINARY_DIR}/svc.ssliop.conf @ONLY)
 	install(
-		FILES ${PROJECT_BINARY_DIR}/svc.conf
+		FILES ${PROJECT_BINARY_DIR}/svc.ssliop.conf
 		DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_ssliop
 		COMPONENT ext)
 
 
-	install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/tao_shmiop/svc.conf DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_shmiop COMPONENT ext)
+	install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/tao_shmiop/svc.shmiop.conf DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_shmiop COMPONENT ext)
 
 	configure_file(
 		${CMAKE_CURRENT_SOURCE_DIR}/tao_shmiop/rtc.shmiop.conf.in ${PROJECT_BINARY_DIR}/rtc.shmiop.conf @ONLY)
@@ -55,4 +61,20 @@ if(CORBA STREQUAL "TAO")
 		DESTINATION ${INSTALL_RTM_ETC_DIR}/tao_shmiop
 		COMPONENT ext)
 
+
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/svc.names.htiop.conf.in ${PROJECT_BINARY_DIR}/svc.names.htiop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/svc.names.htiop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}
+		COMPONENT ext)
+
+	configure_file(
+		${CMAKE_CURRENT_SOURCE_DIR}/svc.names.ssliop.conf.in ${PROJECT_BINARY_DIR}/svc.names.ssliop.conf @ONLY)
+	install(
+		FILES ${PROJECT_BINARY_DIR}/svc.names.ssliop.conf
+		DESTINATION ${INSTALL_RTM_ETC_DIR}
+		COMPONENT ext)
+
+
 endif()
diff --git a/etc/HT_Config.conf b/etc/HT_Config.conf
@@ -0,0 +1,10 @@
+
+[htbp]
+# The Proxy_port and proxy_host values control how the HTIOP "inside" peers
+# to connect to "outside" peers. In situations where the process inside a
+# protected enclave is required to vector all HTTP traffic through some
+# third-party proxy, such as Squid, then put the host and port for that
+# proxy here.
+
+#proxy_port=3128
+#proxy_host=rtai.ociweb.com
diff --git a/etc/svc.names.htiop.conf.in b/etc/svc.names.htiop.conf.in
@@ -0,0 +1,6 @@
+
+dynamic HTIOP_Factory Service_Object *
+        TAO_HTIOP:_make_TAO_HTIOP_Protocol_Factory ()
+        "-config @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/HT_Config.conf"
+
+static Resource_Factory "-ORBProtocolFactory HTIOP_Factory"
diff --git a/etc/svc.names.ssliop.conf.in b/etc/svc.names.ssliop.conf.in
@@ -0,0 +1,4 @@
+dynamic SSLIOP_Factory Service_Object *
+        TAO_SSLIOP:_make_TAO_SSLIOP_Protocol_Factory()
+        "-SSLAuthenticate SERVER_AND_CLIENT -SSLPrivateKey PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/server.pem -SSLCertificate PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/root.crt -SSLPassword passward -SSLCAfile PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/root.crt"
+static Resource_Factory "-ORBProtocolFactory SSLIOP_Factory"
diff --git a/etc/tao_diop/rtc.diop.conf.in b/etc/tao_diop/rtc.diop.conf.in
@@ -2,4 +2,4 @@ logger.enable: YES
 logger.log_level: DEBUG
 #logger.file_name: stdout
 
-corba.args: -ORBEndpoint iiop://: -ORBEndpoint diop://: -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@tao_udp/svc.conf
+corba.args: -ORBEndpoint iiop://: -ORBEndpoint diop://: -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/tao_diop/svc.diop.conf
diff --git a/etc/tao_diop/svc.conf → etc/tao_diop/svc.diop.conf b/etc/tao_diop/svc.conf → etc/tao_diop/svc.diop.conf
diff --git a/etc/tao_htiop/rtc.htiop.conf.in b/etc/tao_htiop/rtc.htiop.conf.in
@@ -2,7 +2,7 @@ logger.enable: YES
 logger.log_level: DEBUG
 #logger.file_name: stdout
 
-corba.args: -ORBEndpoint htiop:// -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@tao_http/svc.conf
+corba.args: -ORBEndpoint htiop:// -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/tao_htiop/svc.htiop.conf
 
-#corba.nameservers: corbaloc:htiop:127.0.0.1:2809
-#corba.master_manager: htiop://127.0.0.1:2810
+corba.nameservers: corbaloc:htiop:127.0.0.1:2809
+corba.master_manager: htiop://127.0.0.1:2810
diff --git a/etc/tao_htiop/svc.conf → etc/tao_htiop/svc.htiop.conf.in b/etc/tao_htiop/svc.conf → etc/tao_htiop/svc.htiop.conf.in
@@ -1,6 +1,6 @@
 
 dynamic HTIOP_Factory Service_Object *
         TAO_HTIOP:_make_TAO_HTIOP_Protocol_Factory ()
-        "-config ./HT_Config.conf"
+        "-config @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/tao_htiop/HT_Config.conf"
 
 static Advanced_Resource_Factory "-ORBProtocolFactory HTIOP_Factory"
diff --git a/etc/tao_shmiop/rtc.shmiop.conf.in b/etc/tao_shmiop/rtc.shmiop.conf.in
@@ -2,7 +2,7 @@ logger.enable: YES
 logger.log_level: DEBUG
 #logger.file_name: stdout
 
-corba.args: -ORBEndpoint shmiop://: -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@tao_shm/svc.conf
+corba.args: -ORBEndpoint shmiop:// -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/tao_shmiop/svc.shmiop.conf
 
 
 #corba.nameservers: corbaloc:shmiop:1.0@:2809

diff --git a/etc/tao_shmiop/svc.conf → etc/tao_shmiop/svc.shmiop.conf b/etc/tao_shmiop/svc.conf → etc/tao_shmiop/svc.shmiop.conf
diff --git a/etc/tao_ssliop/rtc.ssliop.conf.in b/etc/tao_ssliop/rtc.ssliop.conf.in
@@ -2,7 +2,7 @@ logger.enable: YES
 logger.log_level: DEBUG
 #logger.file_name: stdout
 
-corba.args: -ORBEndpoint ssliop://: -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@tao_ssl/svc.conf
+corba.args: -ORBEndpoint ssliop://: -ORBSvcConf @CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/tao_ssliop/svc.ssliop.conf
 
 corba.nameservers: corbaloc:ssliop:127.0.0.1:2809
 corba.master_manager: ssliop://127.0.0.1:2810
diff --git a/etc/tao_ssliop/svc.ssliop.conf.in b/etc/tao_ssliop/svc.ssliop.conf.in
@@ -0,0 +1,4 @@
+dynamic SSLIOP_Factory Service_Object *
+        TAO_SSLIOP:_make_TAO_SSLIOP_Protocol_Factory()
+        "-SSLAuthenticate SERVER_AND_CLIENT -SSLPrivateKey PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/server.pem -SSLCertificate PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/root.crt -SSLPassword passward -SSLCAfile PEM:@CMAKE_INSTALL_PREFIX@/@INSTALL_RTM_ETC_DIR@/ssl/root.crt"
+static Advanced_Resource_Factory "-ORBProtocolFactory SSLIOP_Factory"
diff --git a/src/lib/coil/common/coil/ClockManager.cpp b/src/lib/coil/common/coil/ClockManager.cpp
@@ -20,6 +20,7 @@
 #include <mutex>
 #include <chrono>
 #include <string>
+#include <chrono>
 
 namespace coil
 {

diff --git a/src/lib/rtm/Typename.h b/src/lib/rtm/Typename.h
@@ -123,14 +123,22 @@ namespace CORBA_Util
     static const char* id()
     {
       CORBA::Any any_var;
+#ifdef ORB_IS_TAO
+      T tmp_var = T();
+#else
       T tmp_var;
+#endif
       any_var <<= tmp_var;
       return any_var.type()->id();
     }
     static const char* name()
     {
       CORBA::Any any_var;
+#ifdef ORB_IS_TAO
+      T tmp_var = T();
+#else
       T tmp_var;
+#endif
       any_var <<= tmp_var;
       return any_var.type()->name();
     }

diff --git a/utils/cmake/OpenRTMConfig_TAO_Linux.cmake.in b/utils/cmake/OpenRTMConfig_TAO_Linux.cmake.in
@@ -64,28 +64,41 @@ set(OPENRTM_SHORT_VERSION @RTM_SHORT_VERSION@)
 set(OPENRTM_ORB TAO)
 set(OPENRTM_IDL_WRAPPER rtm2-skelwrapper)
 set(OPENRTM_IDL_WRAPPER_FLAGS --include-dir= --skel-suffix=Skel --stub-suffix=Stub)
-set(OPENRTM_IDLC @IDL_COMPILE_COMMAND@)
+set(OPENRTM_IDLC tao_idl)
 
 
 
-# TAO version
-set(TAO_DIR @ORB_ROOT@)
-if(test${TAO_DIR} STREQUAL "test")
-	set(OPENRTM_IDLFLAGS -as -DTAO_IDL -I/usr/include -I/usr/local/include  -I${OPENRTM_INCLUDE_DIR}/rtm/idl)
-else()
-	set(OPENRTM_IDLFLAGS -as -DTAO_IDL -I${TAO_DIR}/include -I${OPENRTM_INCLUDE_DIR}/rtm/idl)
+if(NOT PKG_CONFIG_FOUND)
+  include(CMakeFindDependencyMacro)
+  find_dependency(PkgConfig)
 endif()
-set(TAO_CFLAGS @ORB_C_FLAGS_LIST@;)
-set(TAO_INCLUDE_DIRS @ORB_INCLUDE_DIR@)
+#
+# Getting TAO settings
+#
+pkg_check_modules(TAO_Svc_Utils REQUIRED TAO_Svc_Utils)
+pkg_check_modules(TAO_CosNaming REQUIRED TAO_CosNaming)
+pkg_check_modules(TAO_IORTable REQUIRED TAO_IORTable)
+pkg_check_modules(TAO_Utils REQUIRED TAO_Utils)
+pkg_check_modules(TAO_Strategies REQUIRED TAO_Strategies)
+set(ACE_TAO_LIBRARIES ${TAO_Svc_Utils_LIBRARIES} ${TAO_CosNaming_LIBRARIES} ${TAO_IORTable_LIBRARIES} ${TAO_Utils_LIBRARIES} ${TAO_Strategies_LIBRARIES})
+set(ACE_TAO_LIBRARY_DIRS ${TAO_Svc_Utils_LIBRARY_DIRS} ${TAO_CosNaming_LIBRARY_DIRS} ${TAO_IORTable_LIBRARY_DIRS} ${TAO_Utils_LIBRARY_DIRS} ${TAO_Strategies_LIBRARY_DIRS})
+set(ACE_TAO_INCLUDE_DIRS ${TAO_Svc_Utils_INCLUDE_DIRS} ${TAO_CosNaming_INCLUDE_DIRS} ${TAO_IORTable_INCLUDE_DIRS} ${TAO_Utils_INCLUDE_DIRS} ${TAO_Strategies_INCLUDE_DIRS})
+set(ACE_TAO_CFLAGS ${TAO_Svc_Utils_CFLAGS} ${TAO_CosNaming_CFLAGS} ${TAO_IORTable_CFLAGS} ${TAO_Utils_CFLAGS} ${TAO_Strategies_CFLAGS})
+set(ACE_TAO_DIR ${TAO_Svc_Utils_PREFIX})
+
+
+set(TAO_CFLAGS ${ACE_TAO_CFLAGS};)
+set(TAO_INCLUDE_DIRS ${ACE_TAO_INCLUDE_DIRS})
 set(TAO_LDFLAGS )
-set(TAO_LIBRARY_DIRS @ORB_LINK_DIR@)
-set(TAO_LIBRARIES @ORB_LIBRARIES@)
+set(TAO_LIBRARY_DIRS ${ACE_TAO_LIBRARY_DIRS})
+set(TAO_LIBRARIES ${ACE_TAO_LIBRARIES})
 
 set(OPENRTM_CFLAGS ${OPENRTM_CFLAGS} ${TAO_CFLAGS})
 set(OPENRTM_INCLUDE_DIRS ${OPENRTM_INCLUDE_DIRS} ${TAO_INCLUDE_DIRS})
 set(OPENRTM_LDFLAGS ${OPENRTM_LDFLAGS} ${TAO_LDFLAGS})
 set(OPENRTM_LIBRARY_DIRS ${OPENRTM_LIBRARY_DIRS} ${TAO_LIBRARY_DIRS})
-
+set(OPENRTM_LIB_DIR ${OPENRTM_LIB_DIR} ${TAO_LIBRARY_DIRS})
+set(OPENRTM_IDLFLAGS -as -DTAO_IDL -I${ACE_TAO_DIR}/include  -I${OPENRTM_INCLUDE_DIR}/rtm/idl)
 
 
 message(STATUS "OpenRTM-aist configuration done")

diff --git a/utils/openrtmNames/OpenrtmNamesPlugin.cpp b/utils/openrtmNames/OpenrtmNamesPlugin.cpp
@@ -55,7 +55,7 @@ namespace OpenRTMNames
       CORBA::Object_var obj = orb->resolve_initial_references("IORTable");
       adapter = IORTable::Table::_narrow(obj.in());
 
-      CORBA::String_var ior = orb->object_to_string(nameservice->_this());
+      CORBA::String_var ior = orb->object_to_string(m_nameservice->_this());
       adapter->bind("NameService", ior.in());
 #endif
     }
@@ -96,7 +96,7 @@ namespace OpenRTMNames
     PortableServer::POA_var root_poa = m_manager->getPOA();
 
 
-    PortableServer::ObjectId_var oid = root_poa->servant_to_id(m_nameservice);
+    PortableServer::ObjectId_var oid = root_poa->servant_to_id(m_nameservice.inout());
     root_poa->deactivate_object(oid);
 
 
@@ -111,11 +111,11 @@ namespace OpenRTMNames
     ins_poa->deactivate_object(id.in());
 #endif
 #else
-    CORBA::Object_var obj = m_manager.theORB()->resolve_initial_references("IORTable");
+    CORBA::Object_var obj = m_manager->theORB()->resolve_initial_references("IORTable");
     IORTable::Table_var adapter = IORTable::Table::_narrow(obj.in());
 
 
-    coil::Properties config(m_manager.getConfig());
+    coil::Properties config(m_manager->getConfig());
 
     adapter->unbind("NameService");
 #endif

diff --git a/utils/rtm-config/CMakeLists.txt b/utils/rtm-config/CMakeLists.txt
@@ -19,7 +19,12 @@ elseif(CORBA STREQUAL "TAO")
 	if(WIN32)
 		set(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${OPENRTM_DIR}/ACE/${RTM_VC_VER}/TAO)
 	else()
-		set(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${ORB_ROOT}/TAO)
+		if(ORB_ROOT)
+			set(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${ORB_ROOT}/TAO)
+		else()
+			set(IDLCOMMAND_FLAGS -as -DTAO_IDL -I${ACE_TAO_DIR}/include)
+		endif()
+
 	endif()
 endif()