Setup Environment

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

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 set the Complie property in "Property page" as explained below.

Installing Visual C++ Compiler

Currently we support Visual C++ 2008 as C++ compiler for Windows.
(Please beware that, OpenHRP-3.0.0 and later versions will not be compatible with Visual C++ 2005)

You can use Express Edition 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++ 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.

Installing JDK

Please download "JDK for windows" from the download page of JavaSE at http://java.sun.com/. Currently, we have checked and confirmed the compatibility issues with versions of JDK5 and JDK6.

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

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 with OpenHRP Ver.3.0.3 .

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

  • Environment Configurator -Windows: Package-1.0.1.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 are updating OpenHRP or if you are willing to install those supported softwares individually, please go through "OpenHRP3 Supported Software's Installation".


When you download and extract "Package-1.0.1.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, 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.1.0.0-RELEASE
  • python Ver.2.4.4
  • PyYAML Ver.3.05
  • Jython Ver.2.2.1
  • tvmet Ver.1.7.2
  • CLAPACK Ver.3.1.1
  • Boost Ver.1.35.0


Extracting OpenHRP 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 spaces, commas, brackets 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.


Project Compilation using Visual C++

How to open project

Go to the directory where you have extracted OpenHRP(the home directory of OpenHRP). Locate and double click on the file called "copyprops.bat". The property sheet "rtm_config.vsprops" is copied. Double click on the file called "OpenHRP.sln"(Figure 4).


Figure 4: Where to start

OpenHRP Project will be open in Visual Studio, as shown in Figure 5.


Configuring Compile Properties

First, open the property page according to the following steps(Figure 5) :

  1. select Property Manager
  2. click ' + ' symbol, to expand the tree, and double click on "OpenHRP"


Figure 5: Property Manager


Then you will lead to the Property Page(Figure 6), where you can configure the references of installed libraries.


Figure 6: Property Page

Go through the following steps in Property Page:
  1. Select User Macro
  2. The following table describes the concrete meaning of each macro represents(such as installed path, software version etc). Refer the table carefully and set proper values for each macro, to be compatible with your environment.

    Runtime Settings
    DYNAMICS_ENGINE Describe the Dynamics server you use. Specify either ut (The university of Tokyo edition) or aist (AIST edition). (1)
    NS_HOST Name server host of the Middlewares(CORBA,OpenRTM). Normally it is 'localhost'. (1)
    NS_PORT Port number of the Name Server of Middlewares(CORBA,OpenRTM). Default value is preferable. (1)
    J3D_REND Specify Java3D renderer. If it is blank, OpenGL is used as default Java3D renderer. To use DirectX3D, specify '-Dj3d.rend=d3d' option for the argument. (1)
    Programing Language Environment Settings
    JDK_DIR Path to the JDK installed folder. (1)
    JYTHON_DIR Path to the Jython installed folder (the folder where 'jython.jar' contains) (1)
    Library Settings
    J3DHOME Path to the Java3D installed directory. If it is blank, "%OPENHRPHOME%/client/gui/Java3D/1.4.1/Windows" is substituted. (1)
    JMFHOME Path to the JMF installed directory. If it is blank, "%OPENHRPHOME%/client/gui/JMF2.1.1e/Windows" is substituted. (1)
    OB_DIR Path to the OmniORB installed folder
    OMNIORB4_LIBVER Version of 'omniDynamic' library file
    Ex: for omniORB-4.1.2, set value as '412'
    OMNI_TRDVER Version of 'omnithread' library file
    for omniORB-4.0.7, set value as '32'
    for omniORB-4.1.2, set value as '33'
    BOOST_INC_DIR Path of the Boost header files. Normally this is equivalent to Boost Installed path.
    BOOST_LIB_DIR Path of the Boost library files.
    Normally these libraries are placed in '< Boost Installed path>\lib' folder
    TVMET_DIR Path to the tvmet installed folder
    CLAPACK_DIR Path to the CLAPACK installed folder
    OPENRTM_DIR Path to the OpenRTM-aist installed folder
    OPENRTM_LIBVER Version of OpenRTM-aist library files
    Ex: for OpenRTM-aist-0.4.2, set value as '042'
    Working space Settings
    INSTALL_DIR The path where OpenHRPs' header files and libraries are placed at. If it is the same path as OpenHRPs' home directory, just keep the default value '$(SolutionDir)' as it is.


    (1) : Edit 'bin/dos/config.bat' to make changes, while runtime.

  3. Press OK button to save the configuration.

The above property settings have been written in a XML file called "OpenHRP.vsprops", which placed in OpenHRP source folder. It is possible to edit this file directly, before starting Visual C++ IDE.


Building the Project

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

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


Figure 7: Build

Finally, the results will be shown as

========== Build: 27 succeeded, 0 failed, 0 up-to-date, 0 skipped ==========

If there is no errors, your build has 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.)

Once you built successfully, run Sample Simulation, and check whether the build works correctly.

Library files of OpenHRP will also be generated in the place where you specified as 'INSTALL_DIR'. It is better to append this directory to your computers' PATH, so then in future you can make/run programs which uses OpenHRP.