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Fully hand-held tutorial on setting up the Java environment to a usable state as quickly as possible. Only knowledge of using the terminal is expected. This tutorial will be completely self-contained (excluding links to downloads).

For more detailed tutorials, see General Development Environment Setup Guide

The general steps are:

  • Install Java
  • Install Gradle
  • Import Repositories
  • Install and configure IDE


Ubuntu

Curl

Curl is a package manager that we will use to install some software. To install it, open a terminal and run:

$ sudo apt install curl

Verify installation by running

$ curl --version

Java

Open a terminal.

Use apt to install openjdk-17-jdk, openjdk-17-doc, openjdk-17-source:

# apt install openjdk-17-jdk openjdk-17-doc openjdk-17-source

Verify installation by opening a terminal and typing

java -version

Gradle

We are currently on Gradle 7. We will install it manually for ease of understanding. The official guide is here for reference. (Aside: we do not use the Gradle Wrapper)

Open a terminal and run the following:

Macro lookup error: excerpt "Gradle quickstart" was not found on page "Gradle" (with ID 14844185) in space "PUBLIC".

If you're experiencing issues please see our Troubleshooting Guide.

Macro lookup error: excerpt "gradle verify" was not found on page "Gradle" (with ID 14844185) in space "PUBLIC".

If you're experiencing issues please see our Troubleshooting Guide.

Configure for IHMC software

    • Navigate to your user home directory.
    • Show hidden files.
    • Ensure the existence of the file ~/.gradle/gradle.properties on Ubuntu or C:/Users/<user>/.gradle/gradle.properties on Windows.
    • If it is not there, create it manually. This file's settings will override project and system level settings.
  • Copy paste the following lines into the file
  • IHMC Employees:
    gradle.properties
    nexusUsername=robotlab-devs
nexusPassword=<password>
org.gradle.jvmargs=-Xmx4g
  • Open Source Only:
    gradle.properties
    org.gradle.jvmargs=-Xmx4g


Import Repositories

Quick:

We will be cloning repositories from the command line. 

Open a terminal and cd to a directory where you want to hold your files. The directory is arbitrary, but you will need to remember it.

First, consider a name for your repository group. "repos" works if you only need one workspace. That name will referred to as <repo-name> below.

Run the following:

$ git clone https://bitbucket.ihmc.us/scm/libs/repository-group.git <repo-name>
$ cd <repo-name>
$ git clone https://bitbucket.ihmc.us/scm/libs/ihmc-open-robotics-software.git

Your folder structure should now match what is shown in the next section.

More details:

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:

  1. Clone repository-group.
    You may name that repository-group folder something else, like "primary" or "secondary" which helps when you have more than one.
  2. 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


IDE

This guide currently only contains instructions for IntelliJ. We are working on Eclipse.

Eclipse

Full guide: Eclipse IDE

Intellij

Full guide: IntelliJ IDEA

  • Download IntelliJ Community. 
    • https://www.jetbrains.com/idea/download/#section=linux
    • Open a terminal and cd into the folder where you downloaded the tar file

    • Extract the file and move it to /opt/. (If you already downloaded from the link above, there is no need to run curl). Replace the names appropriately based on the version you download.

    • $ curl -sL https://download.jetbrains.com/idea/ideaIC-2022.1.3.tar.gz -o idea.tar.gz
$ tar -xzf idea.tar.gz
# mv idea-IC-221.5921.22/ /opt/.
# rm /opt/idea
# ln -s /opt/idea-IC-221.5921.22/ /opt/idea
# ln -s /opt/idea/bin/idea.sh /usr/local/bin/idea

    • IntelliJ is now runnable from the command line:

      $ idea

    • If the desktop launcher is not automatically created, you can open IntelliJ once and select Tools > Create Desktop Entry

  • Now you will need to configure IntelliJ to the Java environment you installed.
    • Set the Java SDK that you downloaded.
      • Go to File > Project Structure > Project Settings > Project.
      • Set the <SDK> to Java 17
      • Set the <Language Level> to SDK Default.
    • Set the gradle version.
      • Go to File > Settings > Build, Exectution, Deployment > Build Tools > Gradle. 
      • Set <Use Gradle From> and select Specified Location. Select the location where you installed gradle to.
        • On windows, this will be C:/Gradle/gradle-8.x
        • On Ubuntu, this will be /opt/gradle/gradle-8.x
      • Set <Gradle JVM> to Project SDK. This should point to the Java SDK you set in the previous step.
  • Your environment should be ready at this point. Import repository-group.
    • File > Open... > select repository-group
    • Gradle will take some time to build and index...
    • Your projects bar should then look like this (depending on the repositories you cloned):

    • where all repositories have a blue square on the folder icon indicating they were recognized by gradle as modules.

Network Parameters (IHMC Only)

This step is necessary if you are working on high-level behaviors, but not necessary to run the simulations.

Setup network configuration

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

Windows

Git

This will be used for all terminal interactions on Windows. Access by searching for Git Bash on the windows search.

Hereby, "open a terminal/console" will refer to launching git bash.

Java

We use Java 17.

Oracle (recommended)

Download installer from https://www.oracle.com/java/technologies/downloads/#java17. The x64 MSI installer is the most convenient. Default installation settings are fine.

Verify installation. Open a terminal and call

java -version

Something like the following should be outputted:

java version "17.0.3.1" 2022-04-22 LTS
Java(TM) SE Runtime Environment (build 17.0.3.1+2-LTS-6)
Java HotSpot(TM) 64-Bit Server VM (build 17.0.3.1+2-LTS-6, mixed mode, sharing)


Aside: java will be installed at the location

C:\Program Files\Java

Gradle

We are currently on Gradle 7. We will install it manually for ease of understanding. The official guide is here for reference. (Aside: we do not use the Gradle Wrapper)

  • Download the latest Gradle 7 distribution (7.4.2 as of writing).
    • Choose the complete version.
    • Remember where you downloaded it.

  • Unpack Gradle (the following are excerpted from the gradle website)

    • Create a new directory C:\Gradle with File Explorer.
    • Open a second File Explorer window and go to the directory where the Gradle distribution was downloaded. Double-click the ZIP archive to expose the content. Drag the content folder gradle-7.4.2 to your newly created C:\Gradle folder.

  • Add to path

    • In File Explorer right-click on the This PC (or Computer) icon, then click Properties -> Advanced System Settings -> Environmental Variables.
    • Under System Variables select Path, then click Edit. Add an entry for C:\Gradle\gradle-7.4.2\bin. Click OK to save.

  • Macro lookup error: excerpt "gradle verify" was not found on page "Gradle" (with ID 14844185) in space "PUBLIC".

    If you're experiencing issues please see our Troubleshooting Guide.

  • Configure for IHMC software
      • Navigate to your user home directory.
      • Show hidden files.
      • Ensure the existence of the file ~/.gradle/gradle.properties on Ubuntu or C:/Users/<user>/.gradle/gradle.properties on Windows.
      • If it is not there, create it manually. This file's settings will override project and system level settings.
    • Copy paste the following lines into the file
    • IHMC Employees:
      gradle.properties
      nexusUsername=robotlab-devs
nexusPassword=<password>
org.gradle.jvmargs=-Xmx4g
    • Open Source Only:
      gradle.properties
      org.gradle.jvmargs=-Xmx4g

Import Repositories

Quick:

We will be cloning repositories from the command line. 

Open a terminal and cd to a directory where you want to hold your files. The directory is arbitrary, but you will need to remember it.

First, consider a name for your repository group. "repos" works if you only need one workspace. That name will referred to as <repo-name> below.

Run the following:

$ git clone https://bitbucket.ihmc.us/scm/libs/repository-group.git <repo-name>
$ cd <repo-name>
$ git clone https://bitbucket.ihmc.us/scm/libs/ihmc-open-robotics-software.git

Your folder structure should now match what is shown in the next section.

More Details:

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:

  1. Clone repository-group.
    You may name that repository-group folder something else, like "primary" or "secondary" which helps when you have more than one.
  2. 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

Long Paths

Long paths needs to be configured on Windows for our repositories.

Step 1: Run Registry Modifier

Download and run this script to apply the fix –>  Remove 260 Character Path Limit.reg

Reverting

If you need to go back for some reason, run this file:

Restore 260 Character Path Limit (Default).reg


*  Solution source: https://www.howtogeek.com/266621/how-to-make-windows-10-accept-file-paths-over-260-characters/

Step 2: Set Git configuration core.longpaths = true 

Set core.longpaths to true.

git config --global core.longpaths true

IDE

This guide currently only contains instructions for IntelliJ. We are working on Eclipse.

Eclipse

full guide: Eclipse IDE

Intellij

full guide: IntelliJ IDEA

  • Download IntelliJ Community. Choose the .exe for convenience
  • Now you will need to configure IntelliJ to the Java environment you installed.
    • Set the Java SDK that you downloaded.
      • Go to File > Project Structure > Project Settings > Project.
      • Set the <SDK> to Java 17
      • Set the <Language Level> to SDK Default.
    • Set the gradle version.
      • Go to File > Settings > Build, Exectution, Deployment > Build Tools > Gradle. 
      • Set <Use Gradle From> and select Specified Location. Select the location where you installed gradle to.
        • On windows, this will be C:/Gradle/gradle-8.x
        • On Ubuntu, this will be /opt/gradle/gradle-8.x
      • Set <Gradle JVM> to Project SDK. This should point to the Java SDK you set in the previous step.
  • Your environment should be ready at this point. Import repository-group.
    • File > Open... > select repository-group
    • Gradle will take some time to build and index...
    • Your projects bar should then look like this (depending on the repositories you cloned):

    • where all repositories have a blue square on the folder icon indicating they were recognized by gradle as modules.

Network Parameters (IHMC Only)

This step is necessary if you are working on high-level behaviors, but not necessary to run the simulations.

Setup network configuration

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


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