This page is focused on 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.

Contents

Getting Started

Remember to read the linked Confluence documentation for each tool. We have specific ways of using these tools and installation and configuration are important.

In general:

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.
  (This can be skipped if using the repository-group script later to install Gradle.)
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
  + AI Assistant available in paid version
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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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
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.
1. IntelliJ IDEA#ImportingGradleProjects
2. Eclipse IDE#ImportingGradleProjects
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To see if everything is working, run some sample simulations. For example AtlasFlatGroundWalkingTrackSCS2.

It's recommended to skim over the guides and try to understand a bit about how things are working:

Software READMEs
- ihmc-build
- repository-group
Operating systems
- Ubuntu
- Windows
- ~~macOS~~
Version control
- Git
- vcstool - Batch Git operations on groups of repos on command line
- SmartGit (install guide, license files) - Requires license, most feature complete Git GUI
- /wiki/spaces/HOWTO/pages/14288008 - Fancy, nice to use, but can be sluggish
- Eclipse EGit VCS Plugin - Not many features, buggy
IDEs
- IntelliJ IDEA
- Eclipse IDE
Java
Gradle

Software Development

Okay, now you're ready to write code.

Check out the /wiki/spaces/IEH/overview.

General Troubleshooting

System and application crashes - GC Overhead Exceptions

Sometimes applications or your entire system crashes. This can be due to being on a less capable machine or just running resource expensive or buggy applications.

Reboot your machine
Close out as many background applications as possible after booting
Launch a system monitor where you can see CPU and RAM usage. Preferably a graph over time so you don't miss something.
Launch IntelliJ and keep an eye on CPU and RAM
Proceed slowly and wait for CPU to go to <5% stably before clicking the next thing

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