<prompt> Yakha inguqulo eyinkimbinkimbi yalesi sigwebo Ku-OpenRTM-aist, ama-RTC ane-Data Ports kanye ne-Service Ports.  <response>: Yiqiniso, inguqulo eyinkimbinkimbi yomusho ithi In OpenRTM - aist, ama-RTC anezibuko zedatha, izibuko zesevisi, kanye nomongo wokusebenza olawula isimo se-RTC. 