On the Project Explorer window, at the bottom of the list of files, you will find
Build Specifications
Under that will be a single entry
FRC Robot Boot-up Deployment
right-click on the entry and choose "Build"
After that is done, and it will take a few minutes, right-click again and choose "Run as startup." that too will take a while. The first time it will just do it, but after that you will also see a pop-up message warning you that you will be replacing existing files on the cRIO. When you see that just click okay.
Make sure your cRIO is powered up and the laptop/Classmate sees it, before doing "Run as startup."