Installation of OpenHRPSDK

OpenHRPSDK

OpenHRPSDK is a binary package containing OpenHRP and an executable file.
Since it contains the executable file (Eclipse RCP products) of GrxUI, you can try operation of GrxUI, without compiling.

Required software

OpenHRPSDK has a version for VS2008(32bit), for VS2010 32bit, and for VS2010 64bit. Please install the following software according to these.

• Java Development Kit (JDK)
Distribution place : http://java.sun.com/
Even if you are using 64 bit OS, please install a 32 bit version for 32 bit OpenHRP.

Software required in order to create a controller

• Visual C++ Compiler
Visual C++ 2008 Express Edition

• Python
Distribution place : http://www.python.org/

or

• Visual C++ Compiler
Visual C++ 2010 Express Edition
Note: Express Edition cannot build 64 bits binary by default.
• OpenRTM
• RTCBuilder-1.1.0
• CMake(2.8.5 or above versions)

The following software is also required to use a Jython script.

• Jython
Distribution place : http://www.jython.org/

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.

Install

1. When the old version is installed, please uninstall and delete the directory of an installation place.
2. Please download OpenHRPSDK and start installer.



3. Please check "I accept the terms in the License Agreement" and click "next".



4. Specify an installation place and click next.
*If you use JDK1.7.0_21, please specify the directory which does not contain the space as an installation place.




5. Please follow directions of a screen.

Composition of a file

Files are installed in the specified directory as follows.

OpenHRPSDK/           # Install directory
    +- bin/           # The executable file of OpenHRP, omniNames.exe, DLL
    +- etc/           # The configuration file of vsprops required for controller creation
    +- GrxUI/         # Eclipse RCP products of GrxUI
        +- GrxUI.exe  # GrxUI Starting file 
    +- include/       # OpenHRP, OpenRTM, OmniORB, The header of libraries
    +- lib/           # OpenHRP, OpenRTM, OmniORB, libraries
    +- License/       # License document
    +- share/         # Sample
    +- utils/         # The tool for RT component creation 
    +- epl-v10.html   # Eclipse Public License v1.0 License document
    +- license-en.txt # License document(English)
    +- license-ja.txt # License document(Japanese)

Environment variable OPENHRP_SDK_ROOT is added as an installation directory.

Execution of a sample simulation

1. Please start (Install directory)/bin/GrxUI.bat.



2. Select "Window"-"preferences" from menu, preferences dialog opens. Click "GRXUI" in the tree on the left-hand side of a dialog, and set up the displayed contents.



Please specify (Install directory)/bin as server install directory. Please specify (Install directory)/share/OpenHRP-3.1/sample/project as project install directory.
Please reboot GrxUI after a setup.

3. To open a project, select 'GrxUI' -> 'Load Project' from menubar.





First, let's choose SamplePD.xml. A robot is displayed on a lower left view.

4. Select 'GrxUI' -> 'Start Simulation' or click simulation start button.



It is a success when a robot begins to walk. Please try other sample projects.

Controller creation

In Visual C++2008, please create the skeleton of a component using "%OPENHRP_SDK_ROOT %\utils\rtc-template\rtc-template.py".
In Visual C++2010, please refer a Controller Building Guide (Walking Pattern)

Uninstall

Please delete this program from the [Add/Remove Programs] of the [control panel].