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HARK-ROS-TURTLEBOT Installation Instructions

SupportedHardware > HARK-ROS-TURTLEBOT > HARK-ROS-TURTLEBOT Installation Instructions

HARK-ROS-TURTLEBOT Installation Instructions


 Pre-requisites


ROS stacks


Choose one of the following versions of ROS.

  • cturtle is not supported since turtlebot does not support cturtle






HARK-related ROS stacks


This stack has following functionalities:

  1. Sharing HARK standard msgs and srvs in ROS
  2. Running HARK program for sound source localization
  3. Sound source follower demo

Choose one of the following packages depending on your ROS version.

  • For diamondback users
    • hark-ros-stacks-diamondback (installation by both pre-compiled binary and source compilation)
    • hark-ros-turtlebot-stack (installation by source compilation only)

  • For electric users
    • hark-ros-stacks-electric (installation by both pre-compiled binary and source compilation)
    • hark-ros-turtlebot-stack (installation by source compilation only)

  • For fuerte users
    • hark-ros-stacks-fuerte (installation by both pre-compiled binary and source compilation)
    • hark-ros-turtlebot-stack (installation by source compilation only)

  • For groovy users
    • hark-ros-stacks-groovy (installation by both pre-compiled binary and source compilation)
    • hark-ros-turtlebot-stack (installation by source compilation only)

  • For hydro users
    • hark-ros-stacks-hydro (installation by both pre-compiled binary and source compilation)
    • hark-ros-turtlebot-stack (installation by source compilation only)

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 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 (Obsoleted for Ubuntu later than Ubuntu 10.04. For others, go to source compilation)


Compilation Environment


  • OS
    • Ubuntu 10.04 lucid (both 32bit and 64bit)

  • ROS
    • ROS diamondback
    • ROS electric
    • ROS fuerte

For other environments, please go for the source compilation.

Installation


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

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'

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 diamondback users
sudo apt-get install harkfd hark-ros-diamondback hark-ros-turtlebot-stack-diamondback

  • For electric users
sudo apt-get install harkfd hark-ros-electric hark-ros-turtlebot-stack-electric

  • For fuerte users
sudo apt-get install harkfd hark-ros-fuerte hark-ros-turtlebot-stack-fuerte

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

 Installation from source compilation


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

Move to the default directory

cd ~/ros/hark_ros_stacks

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

tar zxvf hark-ros-turtlebot-stack-*.*.*.tar.gz

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

Compile all packages.

cd ~/ros/hark_ros_stacks/hark-ros-turtlebot-stack-*.*.*
rosmake hark_turtlebot_follower

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-ros-*.*.*.tar.gz from here and unzip them.

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

Compile and install the source codes.

cd hark-ros-*.*.*
./configure --prefix=/usr/local --with-hark-inc=/usr/include/hark --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.

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