for d in hpp-util hpp-model hpp-model-urdf hpp-core hpp-template-corba hpp-corbaserver hpp-constraints hpp-wholebody-step hpp-wholebody-step-corba hpp-doc ;do\
for d in hpp-util hpp-pinocchio hpp-core hpp-template-corba hpp-corbaserver hpp-constraints hpp-wholebody-step hpp-wholebody-step-corba hpp-doc ;do\
File omniORG.cfg contains the address of the name server. The name server and each Corba object you launch thus needs to access to this file. For that, define the following environment variable:
[source,shell]
setenv OMNIORB_CONFIG ${HOME}/omniORB/omniORB.cfg
You need also to define a directory where log messages will be saved:
[source,shell]
setenv OMNINAMES_LOGDIR ${HOME}/omniORB/log
You can eventually launch the name server:
[source,shell]
omniNames -start port-id
the first time and
[source,shell]
omniNames
the following times.
Controlling an application using python scripts
To send request to hppCorbaServer using python, you need to install package
* hppPython through robotpkg.
[source,shell]
cd ${HOME}/openrobots/robotpkg/scripts/hpp-python
make update
hppPython installs a python script hppInit.py that initializes 3 CORBA
clients, one to each the 3 CORBA objects instanciated by
hppCorbaServer and described at the beginning of this section
(Configuring CORBA and using hppCorbaServer).
After installing hppPython, you need to reinstall this documentation
* either by doing `../configure --prefix=... ; make; make install`
in `hppDoc/build,`
* or by doing make update in `robotpkg/doc/hpp-doc`.
and to set environment variables. For that, follow this link.
Then open a python shell and call the initialization script
[source,shell]
[~] python
Python 2.4.3 (#1, Oct 23 2006, 14:19:47)
[GCC 4.1.1 20060525 (Red Hat 4.1.1-1)] on linux2
Type "help", "copyright", "credits" or "license" for more information.
>>> from hppInit import *
>>>
Three variables robotClient, obstacleClient and problemClient are
defined and can be used to send requests to hppCorbaServer.
For an example, see `hppPython/src/example.py`.
Installing and running walk planner package and corresponding kpp Interface
