Hark > HARK-ROS-MSGS Installation Instructions

HARK-ROS-MSGS Installation Instructions

Pre-requisites

ROS

Choose one of the following versions of ROS.

 

 

 

 

HARK,  HARK-ROS  and  HARK-ROS  msgs

HARK is open – sourced robot audition software of sound source separation modules and automatic speech recognition modules of separated speech signals that work on any robot with any microphone configuration.

  • For all users
    • HARK Installation Instructions

 

HARK-ROS  adds nodes to the main HARK interface that interacts with ROS (eg Topics, Subscribers and Publishers).

HARK-ROS  msgs are necessary in order to utilize HARK standard messages (msgs) and server / client (srvs) created by HARK.

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

  • For kinetic users
    • hark-ros-msgs-kinetic
    • hark-ros-kinetic

 

  • For melodic users
    • hark-ros-msgs-melodic
    • hark-ros-melodic

 

  • For noetic users
    • hark-ros-msgs-noetic
    • hark-ros-noetic

 

Installation from pre-compiled binaries

Installation

 

HARK and HARK msgs ( hark-ros-<ROS version>, hark-ros-msgs-<ROS version>) installation (Choose one of the following command lines depending on your ROS version).

  • For kinetic users
sudo apt-get install hark-ros-kinetic hark-ros-msgs-kinetic
  • For melodic users
sudo apt-get install hark-ros-melodic hark-ros-msgs-melodic
  • For noetic users
sudo apt-get install hark-ros-noetic hark-ros-msgs-noetic

 

Important Notes

If you want to utilize HARK Topic Message please

source /opt/ros/<ROS version>/msgs/setup.bash

You will need to run this command every time you open a new command shell or you can add it to the bashrc.

 

 

When running a HARK network file after installing HARK-ROS, if the following error message is seen:

Gtk-Message: Failed to load module "canberra-gtk-module"

Please run the following command:

sudo apt install libcanberra-gtk-module --reinstall

 

Change the ROS version

If you change the ROS versions, install the corresponding  HARK-ROS  packages by following the instructions below.

  • Remove the installed HARK packages.
sudo apt-get remove hark-ros-<ROS version> hark-ros-msgs-<ROS version>

<ROS version> means the “OLD” ROS version such as “indigo”, “kinetic”, etc…

  • Install the HARK packages for new ROS version.
sudo apt-get install hark-ros-<ROS version> hark-ros-msgs-<ROS version>

<ROS version> means the “NEW” ROS version such as “kinetic”, “melodic”, “noetic”, etc…

 

Installation from source compilation (Optional)

Supported Environment

 

  • OS
    • Ubuntu 16.04 or later

 

  • ROS
    • ROS Kinetic
    • ROS Melodic
    • ROS Noetic

 

Step1 : ROS Installation

Choose one of the following versions of ROS.

 

 

 

 

Step2 : HARK-related ROS msgs Installation

Notes:hark-ros-msgs-<ROS version>-2.4.0 or later allows the packages to be build using catkin_make. If you wish to utilize any version below 2.4.0 please follow this link HARK-ROS Installation Instructions (Legacy method for rosbuild users). This is due to the fact that older versions of hark-ros-msgs use rosbuild.

Move to your preferred directory.

cd ${HOME}/YOUR_HARK_DOWNLOAD_DIR

Download the latest hark-ros-msgs source code.

apt source hark-ros-msgs-<ROS version>

Compile and install the source codes.

cd hark-ros-<ROS version>
mkdir build 
cd build 
source ~${HOME}/YOUR_HARK-ROS-MSGS_DOWNLOAD_DIR/hark-ros-msgs-<ROS version>/devel/setup.sh
cmake .. 
make 
sudo make install

 

You can either copy the whole workspace (hark-ros-msgs-<ROS version> file) paste it to any desired directory OR you can copy the packages inside the SRC file (hark_common_msg & hark_stacks) and paste it to your own workspace inside the SRC file. Then simply run the following command.

catkin_make

Important Notes

To be able to utilize HARK Topic Messages, you will need to source your catkin work space.

 

source ~${HOME}/YOUR_HARK-ROS-MSGS_DOWNLOAD_DIR/hark-ros-msgs-<ROS version>/devel/setup.sh

 

If you have installed hark-ros-msgs via apt-get please

source /opt/ros/<ROS version>/msgs/setup.sh

You will need to run this command every time you open a new command shell or you can add it to the bashrc.

 

 

Step 3: HARK Basic Package Installation

Step 4: hark-ros Package Installation

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 source code.

apt source hark-ros-<ROS version>

Compile and install the source codes.

cd hark-ros-<ROS version>
mkdir build 
cd build 
source ~${HOME}/YOUR_HARK-ROS-MSGS_DOWNLOAD_DIR/hark-ros-msgs-<ROS version>/devel/setup.sh
cmake .. 
make 
sudo make install

Change the ROS version

If you change the ROS versions, install the corresponding  HARK-ROS  packages by following the instructions below.

Recompile the HARK-related ROS msgs.

cd ~/hark-ros-msgs

 

Compile all packages.

catkin_make

 

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

cd ${HOME}/YOUR_HARK_DOWNLOAD_DIR/hark-ros
mkdir build 
cd build 
cmake .. 
make 
sudo make install

Check the installation

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

Run HARK-designer in a new terminal.

hark_designer f

Then, you will find a browser is opened.

HARK – ROS  modules can be found at the next location inside the newly opened GUI.

Preferences> Packages> hark-ros.json

or

Preferences> Version> HARKROS *. *. * (Revision: *)

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