Table of contents

1. Before you begin

Since OpenHRP is an application based on 3D Graphics, it is necessary to confirm whether your pc is aware of handling 3D Graphics properly, before you begin installation. To confirm that, open a Terminal window and run following command; 

$ glxinfo | grep rendering

  • If the result is: "direct rendering: Yes"
    Your system is capable of handling 3D graphics. Please proceed to the next section.

  • If the result is: "direct rendering: No"
    You have to install a graphics driver, that supports 3D acceleration feature.

    Note:

    1. Depending on the graphics board, sometimes the above procedure may not be applicable for your system.Even in this case, basically OpenHRP itself is working.But the 3D visualizations may become slower and would not perform effectively, due to the inactivity of 3D acceleration.

    2. Regarding the graphics board, we can assure that the boards having nVidia chipsets, would support 3D acceleration feature well in Linux platfoems.

    3. For Ubuntu guest platforms running on virtual machine environments, we have confirmed that the 3D graphics works fine even without installing a proper graphics driver.


2. Preparation of compile

Extracting OpenHRP3 source package

To install OpenHRP3, we use a script included in source package. To run the script, first you have to extract the downloaded source package(OpenHRP-xxx.zip).

Note:
Here, the phrase 'xxx' stands for the version of OpenHRP3, such as '3.1.0'. When you read, please substitute the version of the file you downloaded, with 'xxx'.

You may extract OpenHRP3 source, to a directory at anywhere you want. In this example, we extract to the 'OpenHRP' directory in our home directory. Open a Terminal window, and run the following commands, to extract source package. 

$ cd 
$ mkdir OpenHRP
$ cd OpenHRP
$ unzip <source package download path>/OpenHRP-xxx.zip

With these operations you will have OpenHRP3 source extracted to a new directory called 'OpenHRP-xxx' under 'OpenHRP' directory in your users home directory.


Running Package Installation Script

There is a directory called 'util', in OpenHRP3 source directory. Run 'installPackages.sh' script in this directory, with the parameters described below. 

$ cd ~/OpenHRP/OpenHRP-xxx/util
$ ./installPackages.sh packages.list.ubuntu.10.04

If you are using Ubuntu-9.10, change the option to 'pakages.list.ubuntu.9.10'. Similarly change the option to 'pakages.list.ubuntu.9.04', if it is Ubuntu-9.04 .

If you are asked for license agreement during the installation, please do agree at all time you are asked.
Select 'Y'(Yes) for every confirmations.

This operation installs most of the required softwares to compile/run OpenHRP.

Note:
When you have already installed OpenRTM1.1.0-RC3, Please perform this script after executing the following command to delete OpenRTM1.1.0-RC3. 

$ sudo dpkg -r openrtm-aist-doc openrtm-aist-example openrtm-aist-dev openrtm-aist
$ sudo apt-get clean
$ sudo apt-get update

Note:
When you have already installed OpenRTM, please comment out the appointed package of a packages.list.ubuntu.XX.XX file.

3. Compile

Execution of CMake

In OpenHRP3, compile properties are configured by "cmake".

First, open a terminal and move to the OpenHRP3 source directory. 

$ cd ~/OpenHRP/OpenHRP-xxx

Now we launch cmake using following command; 

$ cmake .

Note:
When two or more OpenRTM are installed, please specify OPENRTM_DIR explicitly. Please set up by ccmake as follows.

With this verion of OpenHRP3 it bacame unnecessary to set macros for the default installation. However, if you made changes on CMAKE_INSTALL_PREFIX field or dependant files and library path, run following command and set the macro values as suitable. 

$ ccmake .

If you made changes on macros in ccmake window, press 'c' to reconfigure the settings, and 'g' to generate Makefiles.


Compiling OpenHRP3

Move to OpenHRP3 source directory and run 'make' command. 

$ make
$ sudo make install
$ sudo ldconfig

If the required softwares have been installed properly and the configuration of Make.vars has been done correctly according to the instructions of this page, OpenHRP3 execution files and scripts will be generated soon.

4. 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. 

tar xzvf peclipse342_hrpdependencies_linux_ja_20120220.tar.gz
In addition, when you install each plug-in from the SDK package of eclipse, please refer to the Eclipse relation of required softwares to compile/run OpenHRP.

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_LINUX from the directory of OpenHRP.
If you are using OpenRTM-aist-1.0.0, please moves to Eclipse3.4_RTM1.0. (1.1.0 is installed when you use a package installation script.) 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

※ If your OS are ubuntu12.04 or later, and you use Python Script, you need to install Jython2.2.1. Please install as follows. If you do not correspond, please go to Starting Eclipse.

Install Jython2.2.1
  • Please download jython_installer-2.2.1.jar from "Jython Download Page"
  • Move to the directory to which the file was saved and run java with the -jar option. 
    $ java -jar jython_installer-2.2.1.jar
  • Please follow the display of an installation windows. Choose "standard" in "installation type", specify the directory of an installation place in "target directory".
  • If installation is completed, move to the directory which developed the sauce of OpenHRP3 and start CMake. 
    $ ccmake .
  • Change a setup of Jyton as follows. 
     JYTHON        (jython2.2.1 Install Directory)/bin/jython
 JYTHON_HOME   (jython2.2.1 Install Directory)
 JYTHON_JAR    (jython2.2.1 Install Directory)/jython.jar
  • press 'c' to reconfigure the settings, and 'g' to generate Makefiles.
Starting Eclipse
Please start Eclipse with reference to Starting and initial setting of GrxUI.
Eclipse settings

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. It will not be deleted by, 

$ make clean
command. You will have to delete it manually.
Default path to bin/dos is at "/usr/local/bin/unix".

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".