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.
Compile:
Test (3000+ tests):
Our developers are a mix of Windows and Linux users. We officially support:
Other GNU/Linux distros will likely work, however largely untested. macOS is partially supported, but incomplete at this time.
This repository uses the git-flow branching model. You can find more about git-flow here.
All of the software in IHMC Open Robotics Software is licensed under the Apache 2.0 license.
IHMC Open Robotics Software uses the Gradle build system, and requires JDK 17. We also strongly suggest an IDE, either Eclipse or IntelliJ (Ultimate or Community is fine). Currently, we require Gradle 7.5.1+.
Installing Gradle: https://gradle.org/install/
IHMC Open Robotics Software both depends on and is depended on by many other IHMC Robotics Libraries. A small sampling of our other software includes:
You can find all of our other repositories as well as the ones above at https://github.com/ihmcrobotics
We provide a native ROS 2 API for many of the core components in our software stack. You can find the .msg definitions for use in your own projects in this project's ihmc-interfaces folder.
We have ROS 1 support via the ROS 2 ros1_bridge
package.
You can find the ROS 1 message definitions and instructions on using the
ROS 1 Bridge here: https://github.com/ihmcrobotics/ihmc_msgs
Our Gradle models are tested in IntelliJ IDEA (both Community and Ultimate) with the Gradle plugin. Eclipse 2021 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.
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:
$HOME/.m2
repositoryTo publish jars to your local Maven repository:
$ cd /path/to/ihmc-open-robotics-software
$ gradle 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 {
api("us.ihmc:simulation-construction-set:LOCAL") {
changing = true
}
}
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.kts
│ └── gradle.properties
│ └── settings.gradle.kts
├── my-project-b
│ └── ...
├── ihmc-open-robotics-software
│ └── atlas
│ └── common-walking-control-modules
│ └── ...
├── my-multi-project-c
│ └── subproject-a
│ │ └── build.gradle.kts
│ └── subproject-b
│ └── build.gradle.kts
├── ...
├── build.gradle.kts
├── gradle.properties
└── settings.gradle.kts
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 {
api(project(":ihmc-open-robotics-software:ihmc-java-toolkit"))
testApi(project(":ihmc-open-robotics-software:ihmc-java-toolkit-test"))
}
/* ihmc-build way */
mainDependencies {
api("us.ihmc:ihmc-java-toolkit:source")
}
testDependencies {
api("us.ihmc:ihmc-java-toolkit-test:source")
}