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INSTALL
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INSTALL
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1. Requirements
*Ubuntu 8.04LTS or 10.04LTS
*OpenHRP 3.1.1 or later
*Jython
*(Optional)Octomap(http:https://octomap.sourceforge.net/)
*(Optional)rtcpcl(https://github.com/gbiggs/rtcpcl)
2. Install
2.1 Preparation
Since SDOPackage.idl(usually installed under /usr/include/rtm/idl as a part
of OpenRTM-aist) can't be compiled with idlj, modify the following two lines.
a. comment out line 40:
#define TypeCode CORBA::TypeCode -> //#define TypeCode CORBA::TypeCode
b. add namespace "CORBA::" to line 123:
TypeCode code; -> CORBA::TypeCode code;
2.2 RT components and utilities
% mkdir build
% cd build
% cmake ..
% make
% (sudo) make install
2.3 Eclipse settings
a. Launch Eclipse
b. Select "Window"->"Preferences"
c. Click "GRXUI"
d. Set "<jython directory>/Lib:<install prefix>/share/hrpsys/jython:<install prefix>/share/hrpsys/jar" to "Jython Lib directory"
2.4 Eclipse plugin to monitor the robot status
a. Launch Eclipse
b. Import GrxUI plugin project included in OpenHRP3
c. Import the plugin project placed under "plugin" directory
d. Eclipse automatically starts to compile the plugin
e. Export the compiled plugin(jar file) to your Eclipse plugin directory
f. Restart Eclipse with "-clean" option
3. Running examples
3.1 Monitoring a manipulator "PA10"
a. Launch Eclipse
b. Open "GrxUI" perspective
c. From "GrxUI" menu of Eclipse, load a project file "PA10.xml" placed under
<install prefix>/share/hrpsys/samples/PA10. A manipulator PA10 will
appear in 3DView.
d. Open a new terminal
e. % cd <install prefix>/share/hrpsys/samples/PA10
% ./hrpsys.sh
f. Go back to GrxUI and select a python script item, "PA10.py" in ItemView.
g. Press "exec script" button in JythonPrompt view. PA10 will change its joint angles.
3.2 Simulation of a cybernetic human "HRP-4C"
a. Get a VRML model from http:https://unit.aist.go.jp/is/humanoid/hrp-4c/hrp-4c.html
b. Extract the downloaded zip file at <install prefix>/share/hrpsys/samples
c. Launch Eclipse
d. Open "GrxUI" perspective
e. From "GrxUI" menu of Eclipse, load a project file "HRP-4C.xml" placed
under <install prefix>/share/hrpsys/samples/HRP-4C. A cybernetic human
"HRP-4C" will appear in 3DView.
f. Start simulation
e. Execute a script "HRP-4C.py"