• Installation
  • Install hrtool
  • Install hrtool extension
  • Initialize Workspace
  • Install HEAD
• Run robot
• Update hrtool
• Usage
• Migrate from old hrtool

Installation

Install hrtool

Run this single command to install hrtool.

curl https://raw.githubusercontent.com/hansonrobotics/hrtool/master/get_hr.bash|bash

Install hrtool extension - for internal use

This allows you to access private resources

1. Create Github personal token according to Creating a personal access token, and write down the token.

   Note: In the Select scopes, select repo, and all its sub-scopes.

2. Add a system environment variable GITHUB_TOKEN

   For example, add export GITHUB_TOKEN=<token> to ~/.bashrc

3. Test the token. You will see it prints out the latest version of hrtool-ext, for example, v0.6.1

   source ~/.bashrc && hr cmd get_latest_version hansonrobotics/hrtool-ext

4. Install head-hr-ext

   hr install head-hr-ext

4a. To install pre-release versions of hrtool and hrtool-ext (for testing and development) purposes

`hr install -p head-hr`

5. Clean up hash

   hash -r

Initialize Workspace

hr init [workspace]

Install HEAD

hr install head

If installing on top of an earlier installation, be sure to force:

hr install -f head

Run robot

hr run <robot>

Update hrtool

hr install head-hr

Usage

1. hr to show all the available commands.
2. hr install -p <package> to install pre-release packages.
3. hr install -f <package> to force install packages.
4. hr install head to install/update HEAD stack.
5. hr role <user|developer> to switch roles.

Migrate from old hrtool

Unfortunately, the new hrtool is not compatible with old hrtool. So in order to use the new hrtool, you need to clean up your system.

• Commit all the local changes and push to GitHub
• Uninstall rospkg and catkin_pkg: pip3 uninstall rospkg catkin_pkg
• Delete ~/hansonrobotics
• Delete /opt/hansonrobotics
• Delete ~/.hr
• Install the newest hrtool, following the above steps.
• Be sure to force installation using hr install -f head.

Troubleshooting

Hash Sum mismatch

If you see such errors when you do sudo apt-get update

W: Failed to fetch http://hk.archive.ubuntu.com/ubuntu/dists/trusty-updates/universe/source/Sources  Hash Sum mismatch
W: Failed to fetch http://hk.archive.ubuntu.com/ubuntu/dists/trusty-updates/universe/binary-amd64/Packages  Hash Sum mismatch
W: Failed to fetch http://hk.archive.ubuntu.com/ubuntu/dists/trusty-updates/universe/binary-i386/Packages  Hash Sum mismatch
E: Some index files failed to download. They have been ignored, or old ones used instead.

Go to "System Settings" -> "Software & Updates" -> "Ubuntu Software". Then choose the "Download from" drop down menu, select "Main Server"

head-deps is not installed

Uninstall nodejs if it's of version 0.10.x or older. HEAD requires nodejs to be 6.6.x or newer.