Desktop Setup

Prerequisites: ROS Kinetic, Melodic, or Noetic Installed

Warnings: 1) If you are installing on some OS other than Ubuntu, you may run into dependency issues that you will have to handle yourself. 2) HARMONI is written in Python 3, which can cause some hiccups if you are not used to running Python 3 in ROS Kinetic or Melodic

We recommend using docker whenever possible, however it is particularly challenging to set up a combination of python 3 and Melodic or Kinetic so we highly recommend using docker in this case. If you would like to set up a desktop install yourself, you may find this guide helpful.

1. Clone the repository:

   mkdir -p catkin_ws/src
   cd catkin_ws/src
   git clone https://github.com/interaction-lab/HARMONI.git
   cd ..
   

2. install dependencies:

   sudo apt-get install ros-$ROS_DISTRO-audio-common ros-$ROS_DISTRO-rosbridge-server
   pip install rospkg
   

3. Build harmoni core packages:

   catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3 harmoni_common_lib harmoni_common_msgs harmoni_decision harmoni_pattern harmoni_recorder
   

   If you do not have catkin tools installed, follow these instructions or also install from pip running:

   pip3 install --user git+https://github.com/catkin/catkin_tools.git
   

4. Build all packages:

   After installing the requirements for each package you would like to use, you must build the remaining packages.

   catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3
   source devel/setup.bash
   

Additional Notes/Tips

For now this is a WIP. Some dependencies may need to be updated. We recommend installing with python3 from source, like here

We recommend extending the blacklist packages to include those shown in the following sample command:

catkin config --init -DCMAKE_BUILD_TYPE=Release --blacklist rqt_rviz rviz_plugin_tutorials librviz_tutorial turtlesim cv_bridge rqt_image_view turtle_actionlib turtle_tf2 turtle_tf rviz rviz_python_tutorial python_orocos_kdl --install