National Institute of Advanced Industrial Science and Technology
OpenRTM-aist implements some extended RTC features, and it also includes a Manager component to help manipulating RTCs. RTCs in OpenRTM-aist can be implemented using many programming languages, and RTCs programmed in different languages can communicate with each other. A lot of tools to ease RTC manipulations are also released by the National Institute of Advanced Industrial Science and Technology and their co-workers (in a strict sense, OpenRTM-aist itself is a library and does not include these tools).