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Make HAROS Easy

This is a repository of scripts to make HAROS installation and setup easier.

Using HAROS with Docker

See the docker directory.
For a manual installation, keep reading.

Installing HAROS

Under install you will find step-by-step scripts to install HAROS. These assume that you have a working ROS installation and some additional dependencies, such as virtualenv and pip.

Step 1 (Optional) - Virtual Environment

We recommend installing (and using) HAROS in a Python virtual environment, but this is completely optional.

Running step 1 will create a virtual environment for you. It can be executed without arguments,

./step1-virtualenv.sh

In which case it will create a virtual environment at the root of this repository. Alternatively, you can provide it a suitable location for the virtual environment.

./install/step1-virtualenv.sh /path/to/env/parent

Step 2 - External Dependencies

Some features of HAROS, namely model extraction, require external dependencies, such as libclang. Installing the front-end of clang is also useful, to ensure that your ROS code compiles with it. Step 2 handles this for you.

./install/step2-external.sh

Note: This script may require root access to run apt-get.

Step 3 - HAROS

Step 3 will install HAROS itself, along with some useful dependencies.

Note: This step requires libclang to be installed.

Using a Virtual Environment

Make sure to activate the virtual environment before proceeding.

source /path/to/venv/bin/activate
./install/step3-haros.sh

Not Using a Virtual Environment

Simply run the script. Depending on your environment, this may or may not require root access.

./install/step3-haros.sh

Step 4 - HAROS Plug-ins

Once HAROS is available, you can run step 4 to install some useful plug-ins.

If you are using a virtual environment, make sure that it remains active.

./install/step4-plugins.sh

Step 5 (Optional) - Catkin Workspace

This step will create a catkin workspace and download example ROS packages to try out HAROS. It is entirely optional. If you opt to run it, make sure that you have clang++ available.

The script requires a path to the root of the workspace. If you are using a virtual environment, its root would be a suitable location.

./install/step5-workspace.sh /path/to/harosenv

This script will create some convenience scripts in the target directory.

The activate script is meant to be sourced, not executed. It is a shortcut to activate your virtual environment and source the catkin devel/setup.bash of the workspace.

The catkin_make.sh is executable, and is a shortcut to run catkin_make in the workspace, passing flags to compile with clang++ and to create helper files that HAROS needs for model extraction.

Step 6 - Try HAROS

After running the previous scripts, HAROS and some of its plug-ins are fully installed and ready to be used.

If you cloned the example ROS packages, either manually or with the provided script, now is a good time to try out the scripts contained in that repository. Just ensure that the virtual environment (if used) is active.