HARK-ROS Installation Instructions

Choose one of the following versions of ROS.

For cturtle users
- ros-cturtle-ros
- ros-cturtle-driver-common (for dynamic reconfigure)
  - See ROS Cturtle Ubuntu Install for the installation detail.

For diamondback users
- ros-diamondback-desktop-full
  - See ROS Diamondback Ubuntu Install for the installation detail.

For electric users
- ros-electric-desktop-full
  - See ROS Electric Ubuntu Install for the installation detail.

For fuerte users
- ros-fuerte-desktop-full
  - See ROS Fuerte Ubuntu Install for the installation detail.

For groovy users
- ros-groovy-desktop-full
  - See ROS Groovy Ubuntu Install for the installation detail.

HARK-related ROS stacks

This is for sharing HARK standard msgs and srvs in ROS.
Choose one of the following packages depending on your ROS version.

For cturtle users
- hark-ros-stacks-cturtle

For diamondback users
- hark-ros-stacks-diamondback

For electric users
- hark-ros-stacks-electric

For fuerte users
- hark-ros-stacks-fuerte

For groovy users
- hark-ros-stacks-groovy

See next subsection for the installation detail.

HARK

This is for publishing and subscribing ROS msgs and srvs from/to HARK.
Choose one of the following packages depending on your ROS version.

For cturtle users
- harkfd (for HARK main software)
- hark-ros-cturtle (optional modules for the HARK-ROS seamless communication)

For diamondback users
- harkfd (for HARK main software)
- hark-ros-diamondback (optional modules for the HARK-ROS seamless communication)

For electric users
- harkfd (for HARK main software)
- hark-ros-electric (optional modules for the HARK-ROS seamless communication)

For fuerte users
- harkfd (for HARK main software)
- hark-ros-fuerte (optional modules for the HARK-ROS seamless communication)

For groovy users
- harkfd (for HARK main software)
- hark-ros-groovy (optional modules for the HARK-ROS seamless communication)

See next subsection for the installation detail.

Installation from pre-compiled binaries

Compilation Environment

OS
- Ubuntu 10.04 lucid (both 32bit and 64bit. ROS older than fuerte. For fuerte, go for source compilation.)
- Ubuntu 12.04 precise (both 32bit and 64bit. For fuerte and groovy.)

ROS
- ROS cturtle (for lucid)
- ROS diamondback (for lucid)
- ROS electric (for lucid)
- ROS fuerte (for precise)
- ROS groovy (for precise)

For other environments, please go for the source compilation.

Installation

Setup your sources.list file to accept Debian packages from the HARK server.

Ubuntu 10.04 (Lucid)

sudo sh -c 'echo "deb http://winnie.kuis.kyoto-u.ac.jp/HARK/harkrepos lucid non-free\ndeb-src http://winnie.kuis.kyoto-u.ac.jp/HARK/harkrepos lucid non-free" > /etc/apt/sources.list.d/hark.list'

Ubuntu 12.04 (Precise)

sudo sh -c 'echo "deb http://winnie.kuis.kyoto-u.ac.jp/HARK/harkrepos precise non-free\ndeb-src http://winnie.kuis.kyoto-u.ac.jp/HARK/harkrepos precise non-free" > /etc/apt/sources.list.d/hark.list'

Set up your keys.

wget http://winnie.kuis.kyoto-u.ac.jp/HARK/harkrepos/public.gpg -O - | sudo apt-key add -

HARK server re-indexing

sudo apt-get update

HARK stack (harkfd, hark-ros) installation (Choose one of the following command lines depending on your ROS version)

For cturtle users

sudo apt-get install harkfd hark-ros-cturtle

For diamondback users

sudo apt-get install harkfd hark-ros-diamondback

For electric users

sudo apt-get install harkfd hark-ros-electric

For fuerte users

sudo apt-get install harkfd hark-ros-fuerte hark-ros-stacks-fuerte

For groovy users

sudo apt-get install harkfd hark-ros-groovy hark-ros-stacks-groovy

Nomally, a hark-ros package automatically installs a hark-ros-stacks package.

Change the ROS version

If you change the ROS version of your machine, install the corresponding HARK-ROS by following the steps below.

Remove the installed HARK stacks for old ROS version.

sudo apt-get remove harkfd hark-ros-xxxxx hark-ros-stacks-xxxxx

xxxxx means the ROS version such as electric, etc.

Install the HARK stacks for new ROS version.

sudo apt-get install harkfd hark-ros-yyyyy hark-ros-stacks-yyyyy

yyyyy means the new ROS version such as groovy, etc.

Installation from source compilation (Optional)

Supported Environment

OS
- 32bit/64bit Ubuntu 10.04 or later (until 12.04)

ROS
- ROS boxturtle (Obsoleted in ROS website, but supported)
- ROS cturtle
- ROS diamondback
- ROS electric
- ROS fuerte
- ROS groovy

Step1 : ROS Installation

Fistly, install ROS fundamental packages before you proceed.

For cturtle users
- ros-cturtle-ros
- ros-cturtle-driver-common (for dynamic reconfigure)
  - See ROS Cturtle Ubuntu Install for the installation detail.

For diamondback users
- ros-diamondback-desktop-full
  - See ROS Diamondback Ubuntu Install for the installation detail.

For electric users
- ros-electric-desktop-full
  - See ROS Electric Ubuntu Install for the installation detail.

For fuerte users
- ros-fuerte-desktop-full
  - See ROS Fuerte Ubuntu Install for the installation detail.

For groovy users
- ros-groovy-desktop-full
  - See ROS Groovy Ubuntu Install for the installation detail.

Step2 : HARK-related ROS Stack Installation

Setup your local ROS package directory ("~/ros" in the following description).

mkdir ~/ros
cp /opt/ros/cturtle/setup.sh ~/ros
sh -c 'echo "export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH}:${HOME}/ros" >> ~/ros/setup.sh'
sh -c 'echo "source ~/ros/setup.sh" >> ~/.bashrc'
. ~/.bashrc

Make a directory for installing hark-ros-stacks

mkdir ~/ros/hark_ros_stacks
cd ~/ros/hark_ros_stacks

Download source codes from hark-ros-stacks source code and unzip it.

tar zxvf hark-ros-stacks.tar.gz

Compile all packages.

cd ~/ros/hark_ros_stacks/hark-ros-stacks
./make-all-packages.sh

You can develop your own HARK-related ROS nodes in "~/ros/hark_ros_stacks/".

If you use groovy, you may need the following before making them.

rosdep update

Step3 : HARK Basic Package Installation

Here, the source compilation of only hark-ros package is explained.
We assume that the HARK basic packages (such as harkfd, flowdesigner-0.9.1-hark) are installed by pre-compiled bineries.

sudo apt-get install harkfd

hark-ros package is installed by source compilation in the next subsection.

Step4 : hark-ros Package Installation

To install hark-ros, we need source codes of both hark-ros and harkfd.

Firstly, move to your preferred directory to download source codes.

mkdir ${HOME}/YOUR_HARK_DOWNLOAD_DIR
cd ${HOME}/YOUR_HARK_DOWNLOAD_DIR

Download source codes from hark-fd-*.*.*.tar.gz and hark-ros source code and unzip them.

tar zxvf hark-fd-*.*.*.tar.gz
tar zxvf hark-ros.tar.gz

Compile and install the source codes.

cd hark-ros
./configure --prefix=/usr --with-hark-inc=${HOME}/YOUR_HARK_DOWNLOAD_DIR/harkfd-*.*.*/include/ --enable-ros; make clean; make ; sudo make install;

The "*.*.*" describes the package version.

Here, we need header files of harkfd with --with-hark-inc option, so we downloaded harkfd source files.

Change the ROS version

If you change the ROS version of your machine, install the corresponding HARK-ROS by following the steps below.

Recompile the HARK-related ROS stacks.

cd ~/ros/hark_ros_stacks/hark-ros-stacks

Compile all packages.

./make-all-packages.sh

Recompile and reinstall the source codes of the hark-ros package.

cd ${HOME}/YOUR_HARK_DOWNLOAD_DIR/hark-ros
./configure --prefix=/usr --with-hark-inc=${HOME}/YOUR_HARK_DOWNLOAD_DIR/harkfd-*.*.*/include/ --enable-ros; make clean; make ; sudo make install;

The "*.*.*" describes the package version.

Check the installation

To check the HARK-ROS installation, follow this section.

Run Flowdesigner in a new terminal.

flowdesigner

You will see something like following.

UINodeRepository::Scan()
Scanning def /usr/lib/flowdesigner/toolbox
done loading def files

If you see some ROS related errors here, some packages haven't been correctly installed.
Then, repeat the installation above.

HARK-ROS modules can be found at the following place.

Right click > New Node > HARK > ROS

HARK-ROS Installation Instructions