The developments of the robots usually depend on their own original specifications. Therefore, the reuse of the robot technologies and/or components is difficult and their development processes required much time and high cost. The National Institute of Advanced Industrial Science and Technology developed RT-Middleware to solve the above problems by modularizing and defining a framework of RT-Component. The development efficiency is improved by using RT-Middleware. However, there is still a problem that there are only few simulators which correspond to RT-Middleware. For the reason, in this paper we focus to simulate the robot, which adopts the RT-Middleware by using an existing simulator. As the result, the system developers can simulate their own system easily.