Table of contents

  • Installation of OpenHRPSDK
    • We offer the binary package which can try operation of OpenHRP3 and GrxUI by Windows Installer.

Before you begin

Please confirm that if your "Computer Name" is not longer than 8 letters and contains alpha-numeric letters only. Unless the Nameserver will not be started normally. Please refer here for more details.

Setup Environment

At first, please install required softwares to compile/run OpenHRP3 as belowing procedures.

Although 32 bit software can run in 64 bit OS, you need to choose either OpenHRP for 32 bit, or for 64bit. Please do not mix them in required softwares.
In addition, please keep in mind that the Express Edition cannot build 64 bits binary by default.

If you have already installed a compatible version of following software, you can simply skip that part of installation and use the currently installed package. Also you are free to browse and change the installing path and set where ever you wish to install. If you choose a different location instead of default installing path, please beware to specify that in "CMake Build" properties explained below.

Installing Visual C++ Compiler

Currently we support Visual C++ 2010, Visual C++ 2008 as C++ compiler for Windows.

You can use Express Edition(free distributed) as well as commercial editions of Visual C++ provided by Microsoft. If you wish to install the Express Edition, use the following link and download the web-installer of "Visual C++ 2010 Express Edition" or "Visual C++ 2008 Express Edition". Proceed the installation process, according to the installer instructions. You don`t have to change the installer options. Just keep it as default.

If it is "Visual Studio 2008 Standard Edition", please install both C++ and C#.

Installing JDK

Please download "JDK for windows" from the download page of JavaSE at http://java.sun.com/.
Even if you are using 64 bit OS, please install a 32 bit version for 32 bit OpenHRP. Currently, we have checked and confirmed the compatibility issues with versions of JDK7.

Once you run the downloaded file, installer of JDK will be launched. Please install as guided by the installer. You can proceed with the default installer settings, witout making any changes.


Installing supported softwares

Installing with "Environment Configurator"

To complete the environment configuration, there are some other supported softwares other than above mentioned, need to be installed on your system. To make the download and install process of those softwares ease and automate, we have developed and introduced an "Environment Configurator" package, starting from OpenHRP Ver.3.0.3 .

If you are newly installing OpenHRP3 on your system, please visit Downloading related softwares page in this site; then download and run following package. It will handle rest of the configurations of your system environment.

  • Environment Configurator -Windows VS2020 64bit: Package-1.2.2_VC10_x64.zip
  • Environment Configurator -Windows VS2010 32bit: Package-1.2.2_VC10.zip
  • Environment Configurator -Windows VS2008: Package-1.2.2_vc9.zip

    • Please note that, this configurator requires "Windows Installer 3.1" and ".NET Framework 3.5" or later version installed on your system.

    • "Windows Installer 3.1" should have alrerady been installed on your system, since it comes with Windows system updates. Detailed referance and installer is available at here.
    • ".NET Framework 3.5" should have alrerady been installed on your system, since it comes with VC++ application updates. Detailed referance and installer is available at here.

If you hope to install those supported softwares individually, please go through required softwares to compile/run OpenHRP3.


When you download and extract "Package-1.2.2_***.zip", you will have a folder called Package. Within the Package folder find the file "install.cmd" and run it.

.¥Package¥Install.cmd

This will start downloading supported softwares and installing automatically.
If you are on Windows Vista or 7, run as administrator as shown in Figure1.


Figure 1: Run as Administrator


During the installation process, a sub-installer called PyYAML will be pop-out in GUI mode (Figure 2). Proceed the sub-installer pressing Next button with the default installer settings.


Figure 2: PyYAML Installer


When the installation completed successfully, it will be showed as Figure 3;


Figure 3: Build Completed


After the completion of installation process, you may delete the Package folder.

Followings are the supported softwares you just installed;

  • OpenRTM-aist Ver.1.1.0
  • python Ver.2.6.6
  • python-2.7.3.amd64 (only 64bit)
  • PyYAML Ver.3.10
  • Jython Ver.2.2.1
  • Eigen Ver.3.0.2
  • CLAPACK Ver.3.1.1
  • Boost Ver.1.44.0
  • Collada Ver.2.3.1

Except for these, OpenHRP-3.1 series needs some other additional softwares installed individually, to complete the environment configuration.

CMake

Visit CMake-2.8 release's page and locate ver.2.8 release for Windows; simply download and install it.

Note:
On Windows environments, having both Cmake-2.4.x and Cmake-2.6.2 installed at the same time, causes problems when generating VC++ project files. Please beware to uninstall previous versions of OpenHRP3, before you move to CMake-2.8.

Extracting OpenHRP3 Package

Please download the OpenHRP3 source archive from "Downloading OpenHRP3" page and extract it to a appropriate directory.

Note:
When extracting, we recommond you to select a path where that does not contain commas or unicode characters. Or move the extracted directory to a path where that does not contain those characters. So then you can prevent the failiures that could be occured due to faulty path, during the project build or at runtime.


Compile

Generating Build-files with CMake

Launch cmake from "start menu".


Fig.4 : Launch cmake

Locate following fields at the top. 

where is the source code:
where to build the binaries:

Specify OpenHRP3 home directory for them both.
Then check "show Advanced Values" checkbox.
Click "Configure" button.


Fig.5 : Specification of a project

The dialog which asks the kind of project as shown in Fig. 5 is displayed. Select "Visual Studio 10 Win64" or "Visual Studio 2010" or "Visual Studio 9 2008" in the "Specify the generator for this project", select "Use default native compiler", click "Finish" button.
A dialog is closed and a project is built. As shown in Fig. 6, the list of a variable identifier and values is displayed in a red bag ground. Please check and change a variable.


Fig.6 : the list of a variable identifier and values

Errors will be displayed, when it can not locate the path to specified dependant libraries.
Click "OK" to pass those errors or "Cancel" to supress further messages.
Enter the correct path to the appropriate field and click "Configure".
Repeat the process until all the errors get cleared.

If you installation proceeded according to the default settings explained in this tutorial, cmake will configure everything for you automatically. If not you will have to change the appropriate fields and reconfigure.

You can customize the OpenHRP3 install directory, by changing "CMAKE_INSTALL_PREFIX" field.

*If you use JDK1.7.0_21 or later , please specify the directory which does not contain the space as an installation place.
*When two or more OpenRTM are installed, please specify OPENRTM_DIR explicitly.

The "OK" button next to the "Configure", will be activated when all the errors are gone. Click the "OK" button and build files (project files, Makefile etc) will be generated according to your configuration settings and placed in the source directory. Click "OK" to pass the warning dialogs during the process.


Project Compilation using Visual C++

How to open project

Go to the directory where you have extracted OpenHRP3(the home directory of OpenHRP3). Locate and double click on the file called "OpenHRP.sln"(Figure 7).


Fig. 7: Solution file

OpenHRP3 Project will be open in Visual Studio, as shown in Figure 8.


Building the Project

Once properties are configured correctly, you can build the project as below.


Fig. 8 : Building the project

  1. Select Solution Explorer.
  2. Select Release.
  3. Select "Solution Build" from "Build" menu.
  4. Build starts and results will be displayed.

Finally, the results will be shown as

========== Build: 41 succeeded, 0 failed, 0 up-to-date, 1 skipped ==========

If there is no errors, your build has been succeeded.
Number of sucesses may differ from version to version, but the important point is whether there is 0 failed.

In case of compilation failiure, recheck the Setup Environment from the beginning and confirm whether everything went correctly. Open the "Error list" window of Visual C++, and check the error in detail.(To open Error list: Select 'View' -> 'Other winows' -> 'Error list'. Error winodow will be displayed at the bottom of Visual C++ window, along with 'output' window.)

Next, build the "INSTALL" project to get copied execution files, to the OpenHRP3 install directory where you specified in "CMAKE_INSTALL_PREFIX".


Fig. 9 : Building INSTALL project

Build the INSTALL project using the popup menu, as shown in Figure 9. Popup menu can be viewed as follows;

  1. Select "Solution Explorer"
  2. Select INSTALL project
  3. Right-click on INSTALL project

Note:
On Windows Vista or 7 environments, UAC(User Account Control) may prohibit copying files to C:\Program Files folder due to security reasons, and cause to end up the project build with errors. In that case, try one of the following method and rebuild the INSTALL project.

Installation of Eclipse and GrxUI plug-in

Installation of Eclipse

GrxUI is an Eclipse plug-in and it supports with Eclipse-3.4 . Download Eclipse All-in-one package from Download and extract to an appropriate folder.

Note:
If you are on Windows Vista environment and extracting the package using system default extractor, you will be lead to a message saying "Source path is too long". Even we haven't noticed any problems by selecting "skip" option, it is recommend to use a dedicated extracting software for this purpose.

Installation of GrxUI plug-in

Installation of GrxUI on Eclipse plug-in has the method of installing compiled GrxUI plug-in and the method of compiling from sauce code by Eclipse.

Installation of compiled GrxUI plug-in

It is the method of installing a compiled jar file in Eclipse.
Please move to GrxUIonEclipse-project-0.9.8\plugins\Eclipse3.4_RTM1.1_WINDOWS from the directory of OpenHRP.
Please copy com.generalrobotix.ui.grxui_0.9.8.jar to the plugins directory of Eclipse.

Installation is completion now. Please start GrxUI with reference to Starting and initial setting of GrxUI



Installation of creating GrxUI plug-in from a source code

Starting Eclipse

Please start Eclipse with reference to Starting and initial setting of GrxUI.

Eclipse settings

First we configure Eclipse compiler settings.
Select "Window" -> "Preferences" from menubar.
Select "Java" -> "Compiler" and set "Compiler compliance level" to "5.0" or higher.
Click "Apply" to save the settings.
Here you will be asked whether to rebuild the project and click "Yes".

Now we configure, the encoding type of workspace.
Select "General" -> "Workspace" and click "Other" in "Text file encoding".
The nearby menu will be activated and select "UTF-8" in it.
Click "Apply" to save the settings, and "OK" to close the window.

GrxUI plug-in's Import / Compile / Export / Install
Import

Select "Window" -> "Open Perspective" -> "Other" from menubar.
Select "Plug-in Development" and click "OK".
You can see the perspective has been changed from "Java" to "Plug-in Development" at the top-right corner.

Select "File" -> "Import" from menubar. Project import wizard will be opened.
Select "General" -> "Existing Projects into Workspace" and click "Next".
Click the "Browse" button next to "Select root directory" textbox and select "GrxUIonEclipse-project-0.9.8" directory that located in OpenHRP-3.1.0(β) source directory.
Confirm that "com.generalrobotix.ui.grxui" is checked in the "Projects" list and click "Finish".

Compile

When you complete the above process, the projejt will be build automatically. You can see the prograss bar indicator at the right-bottum corner of the status bar. It will be disappeared when the project build is completed. When a compile error occurs, please refer to here.

Export

Select "File" -> "Export" from menubar. Project export wizard will be opened.
Select "Plug-in Development" -> "Deployable plug-ins and fragments" and click "Next".
Check "com.generalrobotix.ui.grxui(0.9.8)" in "Available Plug-ins and Fragments" list.
Then select "Destination" tab and specify an appropriate directory to export the plug-in; then click "Finish".
This will create "plugins" directory inside the specified directory. The "com.generalrobotix.ui.grxui_0.9.8.jar" that generates inside the "plugins" directory, is supposed to be the GrxUI plug-in.

Install

Exit from Eclipse and copy the generated GrxUI plug-in directory to the "eclipse/plugins". Installation is completion now. Please start GrxUI with reference to Starting and initial setting of GrxUI

Note

Abolishing bin/dos

Using of bin/dos folder in OpenHRP3 program directory is abolished starting from OpenHRP3.1.0(β2). Therefore if you upgraded from a prior version of OpenHRP3, you may delete bin/dos folder at the path where you specified in CMAKE_INSTALL_PREFIX field.
Default path is C:/Program Files/OpenHRP/bin/dos.


Java compliance level

When the compile error of Java occurs, the Java compliance level may be wrong.
Select "Window" -> "Preferences" from menubar.
Select "Java" -> "Compiler" and set "Compiler compliance level" to "6.0" or higher.
Click "Apply" to save the settings.
Here you will be asked whether to rebuild the project and click "Yes".