Installation

The following explains how to install OpenHRP3.

Supported OS

Currently, we have tested and confirmed that OpenHRP3's operation on following platforms.

• OS
• Ubuntu Linux 8.04LTS or 9.10 (recommended)
• Windows XP, Vista (32bit)
• OpenRTM-aist 1.0.0
• Eclipse 3.4SR2

When concerning Linux, OpenHRP3 may work on many Linux distributions other than Ubuntu. Please refer the following page for detailed information about supported platforms.

• OpenHRP3 OS/Distribution Compatibility

Each constitution of manual and distribution package is based on its officially supported OS.Therefore if you use it on an OS other than we listed above, you will be required a higher-level of knowledge about operating OS and programming. If you are not familiar with that, please use an officially supported OS.

As developers, we recommend to use Linux(Ubuntu) platform, since it is easier to install and faster the operation of OpenHRP3 on Ubuntu, than Windows.

Installation Procedure

We have prepared some instruction manuals that explains the basic installation procedure of OpenHRP3 on the above officially supported OS's. It is relatively easier to configure the software environment for OpenHRP3 and then install it, by following the instructions on these pages.

• Installation Guide for Ubuntu Linux


• Installation Guide for Windows

It is not necessarily, to proceed exactly as we instructed in these pages, but enough if you have installed the required libraries and configured the compile properties properly.

If you would like to configure the working environment freely by your self, or if you want to run OpenHRP3, on an OS/distribution other than the officially supported, please refer the pages below.

• Required Softwares to compile/run OpenHRP3

  Here we describe how to configure the system environment, to make OpenHRP3 executed. To compile/run OpenHRP3, you have to install the softwares described here, on your OS.

• Compiling OpenHRP3 using 'CMake' command

  In this page we describe how to compile the OpenHRP3 source code and generate the executable files, using "CMake" command.

Initial Settings

Eclipse.ini settings

In this section we discuss how to manage the heap memory according to the environmental conditions, when saving logs. Please find the Eclipse.ini file placed in Eclipse installed folder. Open it in editor and add the -vm option explicitly, as shown below. Specify the VM path as jre/bin/java in Java installed folder.
Edited example:

-vm
/usr/lib/jvm/java-6-sun-1.6.0.16/jre/bin/java
-vmargs
-Xms128m
-Xmx1024m

-Xms and -Xmx is used to specify the minimum and maximum amount of megabytes that can be used for heap memory. In this way, memory can be used effectively from Eclipse startup.

Starting Eclipse

After installing a new plugin, start the Eclipse using following command.

$ eclipse -clean

Confirming Installation

After installaing OpenHRP3, it is better to run a sample simulation and check whether the installation completed successfully.

• Run the sample simulation

Running for the first time on Ubuntu-9.04

Please refer troubleshooting page if RTC of 'GrxUI on Eclipse' does not work on Ubuntu-9.04 (On Linux).