How to install HATP's core
This page describe how to install the install HATP in ROS. The old way to install HATP using msgconnector is described here.
This page uses the common way to give commands, the Appendix section summarises it.
A quick setup guide can be found here.
HATP has external dependencies on:
- pthread (or equivalent)
- Antlr 2.7.7
- libgvc (provided by the package libgraphviz-dev on most of common linux distributions)
(optional) Toaster (see here for the instructions on how to install Toaster
- (optional) Doxygen
Those can be found on most package managers, alternatively they can be installed using robotpkg.
2. Install in ROS
We will show here the steps to install HATP in ROS. The process may seem a bit counter-intuitive hence this detailed description.
2.1. Get the metapackage
To install HATP you must first download the ROS metapakage, because all the other modules fits inside it.
cd <catkin_ws>/src/ git clone git://git.openrobots.org/robots/hatp/hatp_ros.git hatp
It should create a 'hatp' directory in your source directory.
2.2. Get the modules
Pull the source code in your ROS directory (catkin workspace).
cd <catkin_ws>/src/hatp git clone git://git.openrobots.org/robots/hatp/hatp_msgs.git git clone git://git.openrobots.org/robots/hatp/hatponboard-lib.git git clone git://git.openrobots.org/robots/hatp/hatponboard.git git clone git://git.openrobots.org/robots/hatp/hatptester.git git clone git://git.openrobots.org/robots/hatp/hatpconsole.git
2.3. Compile HATP
Compile using the classical ROS approach:
cd <catkin_ws> catkin_make
Now you can use it, please refer to HATP/run to get a quick guide on how to start HATP.
The commands use the following rules:
things in [ ] are options you can use
things in < > must be replaced by the value that suits your configuration
ls [-R] <some/path>
means you have to call either:
ls -R /home/username/