stevenjj / ihmc-open-robotics-software

Robotics software featuring legged locomotion algorithms and a momentum-based controller core with optimization. Supporting software for world-class robots including humanoids, running birds, exoskeletons, mechs and more.

IHMC Open Robotics Software

Compile: Test (2900+ tests):

<-- Latest version on Bintray

Tested Platforms

Robots

• Atlas
  • This release is fully tested on Atlas hardware. See 0.11 Release Notes for detailed results.

Developers

We test all of our software on OSX, Windows, and Ubuntu. It is likely to work on other platforms but not necessarily tested.

Branches

This repository uses the git-flow branching model. You can find more about git-flow here.

Licensing

All of the software in IHMC Open Robotics Software is licensed under the Apache 2.0 license.

Getting Started

Using IHMC Open Robotics Software .jar releases with Maven/Gradle

The release .jars for the various IHMC Open Robotics Software packages are hosted on Bintray. You can browse the release packages at https://bintray.com/ihmcrobotics/maven-release. Instructions for adding the Maven repository and identifying the artifacts can also be found on Bintray for each package.

At a minimum, you will need to have the following repositories declared in your build script to use IHMC Open Robotics Software .jars:

repositories {
   maven {
      url  "http://dl.bintray.com/ihmcrobotics/maven-release" // IHMC Code releases
   }
   maven {
      url  "http://dl.bintray.com/ihmcrobotics/maven-vendor" // Third-party libraries that we have vendored for various reasons
   }

   /* You will also need to add either jcenter() or mavenCentral() or both, depending on your preference */
}

Developing with IHMC Open Robotics Software from source

Requirements

IHMC Open Robotics Software uses the Gradle build system, and requires JDK 8 with JavaFX. We also strongly suggest an IDE, either Eclipse or IntelliJ (Ultimate or Community is fine). Currently, we require Gradle 4.1+. We provide a versioned Gradle wrapper for getting started quickly. The Gradle wrapper will always reflect the minimum version of Gradle required to build the software; if we adopt features only present in newer versions of Gradle as they are release we will update the wrapper. You can also install Gradle system-wide (local installation):

Installing Gradle: https://gradle.org/install/

Install vcstool. See https://github.com/dirk-thomas/vcstool#how-to-install-vcstool

Clone repositories

mkdir -p dev/ihmcopen/src
cd dev/ihmcopen
curl -skL https://github.com/ihmcrobotics/ihmc-open-robotics-software/raw/develop/ihmc.repos -o ihmc.repos
vcs import src < ihmc.repos

Import into your IDE with Gradle Import > src/ihmc/build.gradle

IDE Support

Our Gradle models are tested in IntelliJ IDEA 2017.3+ (both Community and Ultimate) with the Gradle plugin. Eclipse Oxygen+ or higher with the Buildship plugin. The Buildship plugin is bundled with the Eclipse IDE for Java Developers (but not Java EE Developers). It can always be manually installed to any version of Eclipse using the installation instructions.

Building .jars

IHMC Open Robotics Software is pre-configured for generating Maven publications. You can publish directly from the source code right in to your local Maven repository, e.g. the $HOME/.m2 directory. These builds will be tagged with a build "version" of "LOCAL" instead of an incrementing version number.

An example workflow for developing against a local clone of the software:

1. Clone IHMC Open Robotics Software
2. Make modifications
3. Publish to your local $HOME/.m2 repository

To publish jars to your local Maven repository:

$ cd /path/to/ihmc-open-robotics-software
$ ./gradlew publishAll -PcompositeSearchHeight=0

To depend on the jars in your local Maven repository:

In this example we'll have a compile-time dependency of the locally built Simulation Construction Set project. In the build.gradle of the project you wish to have link against Simulation Construction Set:

repositories {
  mavenLocal()
  <your other repositories>
}

dependencies {
  compile group: "us.ihmc", name: "simulation-construction-set", version: "LOCAL", changing: true
}

Creating a project

To create a project that uses IHMC Open Robotics Software, your project hierarchy needs to take a particular form.

First be sure you have completed the section above titled "Clone repositories".

Next, create your project folder:

mkdir -p src/ihmc/my-project-a

Follow the project setup tutorial at https://github.com/ihmcrobotics/ihmc-build#quick-project-setup.

Your directory structure should now look something like:

src/ihmc
├── my-project-a
│   └── build.gradle
│   └── gradle.properties
│   └── settings.gradle
├── my-project-b
│   └── ...
├── ihmc-open-robotics-software
│   └── acsell
│   └── atlas
│   └── common-walking-control-modules
│   └── ...
├── my-multi-project-c
│   └── subproject-a
│   │  └── build.gradle
│   └── subproject-b
│      └── build.gradle
├── ...
├── build.gradle
├── gradle.properties
└── settings.gradle

If this is set up correctly, you will have applied the ihmc-build plugin and use the dependency resolver methods exposed by the build extension. Alternatively, you can manually identify dependencies on projects using the normal Gradle syntax for project dependencies. A sample build.gradle dependency block:

/* Normal Gradle way */
dependencies {
  compile project(':ihmc-open-robotics-software:ihmc-java-toolkit')
  testCompile project(':ihmc-open-robotics-software:ihmc-java-toolkit-test')
}

/* ihmc-build way */
mainDependencies {
  compile group: "us.ihmc", name: "ihmc-java-toolkit", version: "source"
}
testDependencies {
  compile group: "us.ihmc", name: "ihmc-java-toolkit-test", version: "source"
}

Support

Chat support is provided via the IHMC Robotics Slack on the #help-desk channel.

Maintainers

• Jerry Pratt ([e-mail])
• Peter Neuhaus ([e-mail])
• Doug Stephen ([e-mail])
• Sylvain Bertrand ([e-mail])
• Duncan Calvert ([e-mail])
• Stephen McCrory ([e-mail])
• Robert Griffin ([e-mail])
• Georg Wiedebach ([e-mail])
• Inho Lee ([e-mail])
• Daniel Duran ([e-mail])
• John Carff ([e-mail])