Greetings,

I am using OpenHRP 3.1.0 in Ubuntu Linux 10.04. I currently using Eclipse-Ganymede (as downloaded from the OpenHRP site) to run the GrxUI simulation interface. The OpenHRP code runs well in Eclipse for the different examples.

I am currently trying to develop my own controller using C++ and Eclipse CDT.

My goal is to load the code for the OpenHRP simulation into eclipse along with my C++ code. I want to launch the debugger for the GrxUI and from there step into the C++ code of my controller to see how my code affects the behavior of the robot in the simulation.

So far this is what I have been able to do:

1a) Import the GrxUI project files into Eclipse by using the import function and selecting the OpenHRP-3.1.0-Release/GrxUIonEclipse-project-0.9.8. 1b) Import my own C++ controller code. 2a) I can then select the GrxUI project and select the "Debug Configurations". 2b) I create a new Eclipse Application configuration. 2c) Under the main tab, in the 'Program to Run' section, I select the 'Run an application' option and select the first application >> 'com.generalrobotix.ui.grxui.applications'. 3) I place breakpoints both in the GrxUI project and in the C++ project. 4) I click on 'Debug'. 5) A new eclipse window opens. 6) I switch the perspective to the GrxUI perspective. 7) I load a simulation 8) I start the simulation

The result is that the code stops at breakpoints within the GrxUI code but not in the C++ code.

After this I tried also clicking on the C++ project and selecting Debug Configurations. I selected 'C/C++ Attach to Local Application'. I did a number of things here but bottom line I never got the code to stop in the C++ code.

I do not have a lot of experience with linux or OpenHRP but I do feel I am quite close.

Any advice is greatly appreciated. Thanks.