## Set some parameters for the page
#pragma section-numbers 2
#pragma keywords HATP, hatp, htn planning, hatpconsole, hatptester
#pragma description HATP's install page



= How to install HATP's core =

This page describe how to install the install HATP in ROS. ''The old way to install HATP using msgconnector is described [[HATP/install-old|here]].''

This page uses the common way to give commands, the [[#appendix|Appendix section]] summarises it.

||<bgcolor="#EEEEFF"> <<TableOfContents(2)>>||

{i} '''A quick setup guide can be found [[HATP/run#quick_setup|here]].'''

== Dependencies ==

HATP has external dependencies on:
 * CMake
 * Boost
 * pthread (or equivalent)
 * Antlr 2.7.7
 * Qt4
 * libgvc (provided by the package libgraphviz-dev on most of common linux distributions)
 * (optional) Toaster (see here for the instructions on how to install [[https://github.com/Greg8978/toaster/wiki/Installation|Toaster]]
 * (optional) Doxygen

Those can be found on most package managers, alternatively they can be installed using '''robotpkg'''.







== Install in ROS ==

We will show here the steps to install HATP in ROS. The process may seem a bit counter-intuitive hence this detailed description.

=== Get the metapackage ===

To install HATP you must first download the ROS metapakage, because all the other modules fits inside it.
{{{
cd <catkin_ws>/src/
git clone git://git.openrobots.org/robots/hatp/hatp_ros.git hatp
}}}

It should create a 'hatp' directory in your source directory.

=== Get the modules ===

Pull the source code in your ROS directory (catkin workspace).
{{{
cd <catkin_ws>/src/hatp

git clone git://git.openrobots.org/robots/hatp/hatp_msgs.git

git clone git://git.openrobots.org/robots/hatp/hatponboard-lib.git

git clone git://git.openrobots.org/robots/hatp/hatponboard.git

git clone git://git.openrobots.org/robots/hatp/hatptester.git

git clone git://git.openrobots.org/robots/hatp/hatpconsole.git
}}}

=== Compile HATP ===

Compile using the classical ROS approach:
{{{
cd <catkin_ws>
catkin_make
}}}

'''Now you can use it, please refer to [[HATP/run]] to get a quick guide on how to start HATP.'''


== Appendix ==
<<Anchor(appendix)>>

The commands use the following rules:

 * things in `[ ]` are options you can use
 * things in `< >` must be replaced by the value that suits your configuration

For instance:

{{{
ls [-R] <some/path>
}}}
means you have to call either:

{{{
ls /home/username/
}}}
or

{{{
ls -R /home/username/
}}}