We assume the following two requirements for this tutorial.
- Intermediate level skill of HARK network file construction
- The resources are available on the HARK Documentation page.
- Complete of beginner level tutorial of ROS
- See ROS Tutorials and complete beginner level tutorials.
- Publishing / Subscribing msg type Topics
- This tutorial uses HarkInt (just an integer) as the most simple example.
- A HARK node publishes HarkInt type topic, and another HARK node subscribes it.
- Similar to the following ROS Tutorial
- Requesting / Responding srv type Topics
- First example of client / server type communication.
- A HARK node sends two integers as a client, and another HARK node returns their summation as a server.
- Similar to the following ROS tutorial
- Dynamic Reconfigure of HARK parameters
- This is an example to reconfigure HARK parameters through ROS dynamic reconfigure GUI.
- HarkInt (an integer) is dynamically reconfigured as the most simple example.
- Application of publishing / subscribing HARK std messages
- From this tutorial, HarkInt is no more used. This tutorial provides how to publish / subscribe HARK standard messages.
- HARK network file for Sound Source Localization is used for publishing / subscribing source locations.
- Application for LocalizeMUSIC with dynamic reconfigure
- This tutorial is an example of how to use dynamic reconfigure GUI for HARK parameters.
- Here, parameters of sound source localization are reconfigured.
- Recording and playing HARK std messages by rosbag
- This tutorial is an example to record and play HARK std messages by rosbag.
- Here, HarkWave is recorded and played to show the most simple example.
- HARK-ROS-IROS2018 Tutorials
- This tutorial demonstrates how located sounds found by HARK can be sent via HARK-ROS messages to control turtlesim.
- Here, HARK-ROS messages will be used to communicate from HARK to ROS.