Page Comparison

This page is an attempt at a general style of help for users. Since there is an essentially infinite set of tool combinations to use, we will supply a guide for each tool, written by an IHMC developer who uses that tool. Some pages may be a work in progress.

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Pick an operating system
Ubuntu - Free, most compatible with robots
Windows - Requires setting up long paths, installing redistributables, and setting Git's autocrlf to 'input'.
~~macOS~~ - our software isn't currently fully compatible with macOS
Install all of the following: (follow installation guides in linked pages)
1. Graphics driver. For Nvidia GPUs and SCS 1, the proprietary Nvidia driver is currently required.
  Otherwise you will get the error "Could not find GLX 1.3 config from peer info"
2. Java
3. Git - Setup your credentials. On Windows, make sure to set autocrlf to 'input'.
  It is recommended to install a GUI Client, like SmartGit.
  There is also a command line tool vcstool that can perform batch Git operations on groups of repositories.
4. Gradle - Follow the "Installation" and "Configuration" sections.
Choose and install an IDE:
Follow the "Installation" and "Configuration" sections in one of the following.
Make sure to setup the IHMC code formatter.
1. IntelliJ
  More code navigation, refactoring, etc. tools Gradle script editor- Requires JAR manifest workaround on Windows
2. Eclipse Faster compilation, quicker to launch simulations Fantastic multi-monitor support - Gradle files only editable via plain text

Use Git to create a repository-group w/ IHMC Open Robotics Software

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MultiExcerptName	Repo group structure

In your system home folder (or C:/ drive in Windows), create a repository-group.

Option 1:

Use repository-collections to clone a predefined set of repositories. If you are working on humanoids, use humanoids.repos .

Option 2:

Use Git to manually clone the repository group:

Clone repository-group.
You may name that repository-group folder something else, like "primary" or "secondary" which helps when you have more than one.
Inside the repository-group folder, clone the repositories you need. See
For just ihmc-open-robotics-software
It should look like:

repository-group
├── ihmc-open-robotics-software
│   └── build.gradle
│   └── gradle.properties
│   └── settings.gradle
├── <other IHMC repositories as needed>
├── build.gradle
├── gradle.properties
└── settings.gradle

You may wish to clone more projects depending what you are working on. Atlas and Valkyrie simulations are included in Open Robotics Software but not their user interfaces. Take a look at what repositories are available here: Repository Collections

Note: If you clone any proprietary projects you will need to edit ~/.gradle/gradle.properties to contain the following:
artifactoryUsername=yourcrowdusername
artifactoryPassword=yourcrowdpassword

Use your IDE to import the code you cloned When you import a Gradle project, the IDE is analyzing the Java build structure that Gradle comes up with and copying that configuration into the IDE's data structures as if you had painstakingly configured a new Java project manually using the IDE's UI. Perform the Import directly on the repository-group folder or the repository-group/build.gradle.kts file. Follow the "Importing Gradle Projects" section of your IDE's page. IntelliJ IDEA#ImportingGradleProjects Eclipse IDE#ImportingGradleProjects

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MultiExcerptName	networkConfig for IHMC

Setup network configuration

Reserve an IP address if necessary.
Reserve a DDS domain ID.
Run NetworkParametersCreator.java and save it.
Don't forget to set the RTPSSubnet. (i.e. RTPSSubnet=10.100.1.34/24)

To see if everything is working, run some sample simulations. For example SpringFlamingoSimulation.java or AtlasObstacleCourseDemo.java

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`General Troubleshooting`

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Versions Compared

Old Version 93

New Version 94

Key

`General Troubleshooting`