Table of contents

Platform Independent Problems

Type mismatch error when compiling "GrxUI on Eclispe"

Type mismatch error may occur when compiling "GrxUI on Eclipse", when it could not find "jp.go.aist.hrp" package. If "GrxUIonEclipse-project-0.9.8/openhrpstubskel.jar" file is extremely small in size (such as 1KB), generating "openhrpstubskel" fails and cause to this problem. Though "openhrpstubskel.jar" depends on "openrtmstubskel.jar", generating "openhrpstubskel" may fail due to timing mismatch caused by parallel compiling. You may have already noticed this in javac error log when compiling "openhrpstubskel". The reason for that error message is also the same.

To resolve this problem you have to build the correct "openhrpstubskel.jar" file as follows. Then refresh the Eclipse project using "F5".

Solution for Linux

Avoid using 'j' option when compiling. It causes typical error when used 'j' option with make command.

Solution for Windows

This error can be resolved by explicitly specifing the dependent projects on VisualC++ project.

  1. Select "Project" -> "Project dependencies" on menubar. Project Dependencies dialog will be opened.
  2. Go to "Dependencies" tab windows and select "JavaStubSkel" in "Project" pull-down box.
  3. Check the "OpenRTMStubSkel" dependence check-box.
  4. Press "OK" to apply settings.
  5. Rebuild the project.
The cause of the dependence probelem is still unknown and we are now working on it. It can be misuse of Cmake, problem of the way Cmake is used or a bug of Cmake it self. However, it is scheduled to fix this bug in future release.

A click of clear zombie button of RTSystemEditor will not operate GrxUI.

In RTSystemEditor, there is a function to delete collectively the zombie object which cannot access the object of substance from a name server.
When RTSystemEditor is used together with OpenHRP, the servers of OpenHRP will be enumerated as a zombie like the yellow frame of a figure. Since it is a process under operation in fact, please do not push the button of the red frame of a figure.

Fig. Fclear zombie

Change of the momentary preservation place of a file

In OpenHRP3, the log is temporarily saved at the file in the efficiency of a simulation.
The place of a file is the directory specified by Java system property "" + "grxui-(user name)".
When the directory specified by "" is assigned to drives with slow access, such as a drive on a network, operation of a simulation becomes extremely slow. In such a case, please change a preservation place directory as follows.

Refer toInitial setting of Eclipse , open eclipse.ini.
Please add the following contents to the last line. directory of a change place j

Linux Specific Problems

RTC on "GrxUI on Eclipse" does not work on Ubuntu-9.04 (On Linux)

If you install OpenHRP for the first time on Ubuntu-9.04 environment, RTC based sample models may not work on "GrxUI on Eclipse". In such case, open terminal window and run,

$ openhrp-aist-dynamics-simulator -ORBInitRef NameService=corbaloc:iiop:localhost:2809/NameService
if you get the output as follows,
the problem has occured because ipv6 on Ubuntu-9.04 has not been enabled by default.

To resolve this problem, locate "/etc/hosts" file and comment-out the line "::1 localhost ip6-localhost ip6-loopback" where keeps localhost settings of IPv6.

Compile errors / Java exceptions occurs after applying Ubuntu system updates (On Linux)

When installing OpenHRP3 we set 'Sun-java' as default java environment. But when applying Ubuntu system updates, it renews 'Java-gcj' to its latest version and set as default java environment automatically, which may cause to compile errors or Java exceptions when starting GrxUI.

When starting GrxUI, it may hang-up giving following messege;

Null peer?!

Switching the default java environment back to 'Sun-java', will resolve the problem.

$ sudo update-java-alternatives -s java-6-sun
$ sudo update-java-alternatives -s java-6-openjdk

If you are not willing to use 'gcj' for any other applications, you can uninstall it, so that the problem will never be take place.

The server group of OpenHRP does not start at the time of GrxUI starting.

When an installation directory is changed, since a shared library is not found from the executable file of OpenHRP, a server group may be unable to be started correctly.
Please check that the dependency to a shared library is right by the following commands.

$ ldd openhrp-model-loader
As a result, when the library of libhrp* is not found,
please add a (Installation directory)/lib to environment variable LD_LIBRARY_PATH.

Windows Specific Problems

OmniORB name server does not start (On Windows)

It may be this fault when servers are not enumerated, even if it clicks the update button in the name service monitor of GrxUI.

Fault which happens when omniORB of the Python version is installed and the root directory of Python is registered into PATH of an environment variable

Please execute the following commands.
>omniNames -ORBendPointPublish giop:tcp:localhost: -start 2809
Fri Feb 05 09:40:17 2010:

Error: cannot open log file 'C:\temp\omninames-PC_NAME.log'.

usage: omniNames [-start [<port>]]
                 [-logdir <directory name>]
                 [-errlog <file name>]

Use -start option to start omniNames for the first time.
With no <port> argument, the standard default of 2809 is used.

Use -logdir option to specify the directory where the log/data files are kept.

Use -errlog option to specify where standard error output is redirected.

Use -ignoreport option to ignore the port specification.

You can also set the environment variable OMNINAMES_LOGDIR to specify the
directory where the log/data files are kept.
It may be displayed in this way.
Please except the root directory of Python from the environment variable PATH.