Hark Installation Instruction

ROS installation

Hark-ROS requires the installation of the latest ROS(Robotic Operating System)

To do so please go to Click, and follow the directions.

Hark Installation

Requirement: Ubuntu 16.04 (Xenial)

Register HARK apt repository to install HARK deb packages.

sudo bash -c 'echo -e "deb http://archive.hark.jp/harkrepos $(lsb_release -cs) non-free\ndeb-src http://archive.hark.jp/harkrepos $(lsb_release -cs) non-free" > /etc/apt/sources.list.d/hark.list'

Setup the GPG key.

wget -q -O - http://archive.hark.jp/harkrepos/public.gpg | sudo apt-key add -

node.js installation

curl -sL https://deb.nodesource.com/setup_6.x | sudo -E bash -
sudo apt-get install -y nodejs

HARK server re-indexing.

sudo apt-get update

HARK installation.

sudo apt-get install harkfd hark-designer
sudo apt-get install julius-4.2.3-hark-plugin
sudo apt-get install harktool4
sudo apt-get install harktool5
sudo apt-get install kaldidecoder-hark

Audio device library trouble shooting
If the following command shows nothing, the library RASP is not installed.

dpkg -l | grep rasp

You can install the library by the following command:

sudo apt-get install librasp-netapi

HARK-ROS installation

HARK stack (harkfd, hark-ros) installation (Choose one of the following command lines depending on your ROS version)
For Kinetic Users:

sudo apt-get install harkfd hark-ros-kinetic hark-ros-stacks-kinetic

Change the ROS version

If you change the ROS version of your machine, install the correspondingHARK-ROSby following the steps below.
Remove the installed HARK stacks for old ROS version.

sudo apt-get remove harkfd hark-ros-xxxxx hark-ros-stacks-xxxxx

xxxxx means the ROS version such as electric, etc.
Install the HARK stacks for new ROS version.

sudo apt-get install harkfd hark-ros-yyyyy hark-ros-stacks-yyyyy

yyyyy means the new ROS version such as groovy, hydro, etc.

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 fromhereand 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-*.*.*/src/hark_common_msgs
chmod +x make-all-packages.sh
./make-all-packages.sh
cd ..
cd hark_stacks
chmod +x make-all-packages.sh
./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

Building hark-ros Packages.

cd ../..
catkin_make

HARK Basic Package Installation

sudo apt-get install harkfd

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 source code.

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

Check the installation

Run HARK-designer in a new terminal.

hark_designer

Then, you will find a browser is opened.

Follow the instruction below and enable hark-ros for hark_designer

Preferences > Packages > hark-ros.def