Authors: Robert Ellenberg, Richard Vallett, and R.J. Gross To setup plugins for openrave, source setup-plugins.sh:

source ./setup-plugins.sh

If you have any trouble building, or have conflicts with your current setup, it may be easier to clean up everything completely, and rebuild. From the openHubo folder:

./cleanup-all.sh
git submodule update --init

At this point, the build folders in the submodules will be removed completely, forcing CMake to rerun for each plugin. This is useful if you upgrade your openrave installation and want to be sure the plugins are built against the latest headers.

Also make sure that you have all necessary dependencies installed to run both openrave and this project. While the build script knows to install a few common dependencies, it is not gauranteed that all of them will be included. For example, to view reachability databases with openrave, you will need the mayavi package:

sudo apt-get install mayavi2

Several examples are provided in the examples folder to get you started with python and MATLAB programming with openHubo.

If you would like to run the achcontroller example, make sure that hubo-ach is installed (see the github repo for instructions)

https://github.com/hubo/hubo-ach

Assuming you have downloaded the repository in ~/hubo-ach, you can use the included script to start hubo-ach:

./ach-run.sh

This creates the ACH channels for the hubo's reference pose, state, and parameters. The script also starts the hubo main loop, which sends CAN messages over virtual or physical CAN interfaces. The script is configured by default to send only virtual CAN messages, since the necessary CAN hardware is not likely installed on your PC. TO use phsyical can channels, remove the -v flag in the last line of the script:

sudo ~/hubo-ach/hubo-main -v