Compiling method (Windows, Java version)

I will explain how to build in Java.

(G)Preparation

It is necessary to install Java Development Kit 6 in advance. (Note: It will not work with Java 1.5 (5.0).)

(G)Build procedure from RTC Builder

  1. RTC Profile Editor screen, open the [Language/Environment] tab and select [Java].

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  2. Open the [Basic tab] and click the [Generate Code] button to generate the code.

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  3. If the development environment plug-in of the code generation target language is installed, the following confirmation message will be displayed Click [Yes]. Then select [Java (default)] in the dialog displayed and click the [OK] button.
    For the Java language, JDT (Java Development Tools) is included in Eclipse in advance.

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  4. The information of the project is displayed in the package explorer, but since it is not displayed at all, select [File] > [Update] from the menu or click the [F5] key in the package explorer to display information Updating.

  5. Right-click the file of [build_ module name.xml] and select [Run] > [1 Ant Build].

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  6. The build is executed and the build result is displayed on the console screen.

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(G)Build procedure from the command prompt

  1. Download Apache Ant from the following site. Apache Ant is a software for running builds. Eclipse has built-in Ant plug-in as standard, but you need to download it in order to run build from the command prompt.

    Download:the Apache Ant Website

  2. Unzip the Zip file and change the folder name as desired. (Eg: apache-ant-x.xx.x → ant)

  3. Move to any folder. (Ex:C:\Program Files\ant)

  4. Set environment variables. (The screen is for Windows 10)
    1. Open the Properties window of the system and click the [Environment Variables] button.

      system-property_01.png


    2. Click "New" button in "System environment variable".

      system-property_02.png


    3. Enter "ANT_HOME" in the variable name, "C:\Program Files\ant" in the variable value, and click the [OK] button. * The variable value specifies the path of the ant folder.

      system-property_03.png


    4. From the "System environment variable" list, select the variable name "Path" and click the "Edit" button.

      system-property_04.png


    5. Click the [New] button, enter "%ANT_HOME%\bin" and click the [OK] button.

      system-property_05.png


    6. Set JAVA_HOME. It is unnecessary if already set.
      Click "New" button in "System environment variable".

      system-property_02.png


    7. Enter "JAVA_HOME" for the variable name and "C:\Program Files\Java\jdkx.x.x.x.x_xxx" for the variable value and click the [OK] button.
      The variable value specifies the path of the Java installation destination folder.

      system-property_06.png


    8. Return to the system property screen and click the [OK] button to close the screen.

  5. Reboot the PC.

  6. Reboot, start the command prompt and enter "ant -version" to check the version of Apache Ant.

    system-property_07.png


    Similarly, type "java-version" and check the Java version.

    system-property_08.png


  7. Build from the command prompt.
    When you enter the following command in the folder of the specified RTC project, the build will start.
     ant -f build_*****.xml (***** is the module name)
    If build succeeds, the following display will be displayed.

    system-property_09.png


Download

latest Releases : 2.0.0-RELESE

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Choreonoid

Motion editor/Dynamics simulator

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OpenRTP

Integrated Development Platform

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RT-Components collection by AIST

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Tokyo Opensource Robotics Association

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Middleware for DAQ (Data Aquisition) by KEK