Top Diff List Farm Source Search Help RSS Login

HARK-ROS Installation Instructions

Softwares > HARK-ROS > HARK-ROS Installation Instructions

HARK-ROS Installation Instructions


 Pre-requisites


ROS stacks


Choose one of the following versions of ROS.

  • For cturtle users






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

  • For hydro users
    • hark-ros-stacks-hydro

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)

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

See next subsection for the installation detail.

 Installation from pre-compiled binaries


Compilation Environment



  • ROS
    • ROS cturtle (for lucid)
    • ROS diamondback (for lucid)
    • ROS electric (for lucid)
    • ROS fuerte (for precise)
    • ROS groovy (for precise)
    • ROS hydro (for precise)

For other environments, please go for the source compilation.

Installation


For adding the HARK repository, see HARK Installation Instructions.

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
  • For hydro users
sudo apt-get install harkfd hark-ros-hydro hark-ros-stacks-hydro

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, hydro, etc.

 Installation from source compilation (Optional)


Supported Environment


  • OS
    • 32bit/64bit Ubuntu 10.04 or later

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

Step1 : ROS Installation


Fistly, install ROS fundamental packages before you proceed.

  • For cturtle users






Step2 : HARK-related ROS Stack Installation


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

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

Make a directory for installing hark-ros-stacks

mkdir ~/ros/hark_ros_stacks

Move to the default directory

cd ~/ros/hark_ros_stacks

Download the latest hark-ros-stacks-*.*.*.tar.gz from here and unzip it.

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

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

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 or hydro, 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 the latest hark-fd-*.*.*.tar.gz and hark-ros-*.*.*.tar.gz from here 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/local --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.

If you haven't set FLOWDESIGNER_PATH in ~/.bashrc, use the following command to activate this package.

echo "export FLOWDESIGNER_PATH=$FLOWDESIGNER_PATH:/usr/local/lib" >> ~/.bashrc

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 ${HOME}/YOUR_HARK_DOWNLOAD_DIR/hark-ros
./configure --prefix=/usr/local --with-hark-inc=${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