There are two ways to run huron: using the prebuilt Docker image or building from source.

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1. Running with Docker:

Prerequisites:

• Docker Engine/Desktop
• Computer with amd64 or arm64 chip

Steps:

1. Pull the image:

sudo docker pull wpihuron/huron:<tag>

Currently, <tag> can only be a pull request (e.g. pr-72).

2. Run the container in interactive mode:

sudo docker run -it --network=host wpihuron/huron:<tag>

The option --network=host is needed to expose the network interfaces (including CAN) to the container.

3. To build and run an example code:

First, cd into a sepecific example folder in examples, e.g. examples/test_robot_api. Each example code is a normal CMake project. To build the code:

mkdir build && cd build
cmake ..
make

If everything is correct, the binary will be built in build folder, which is ready to be executed.

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2. Building from source:

Clone the main repo and all submodules:

git clone git@github.com:wpi-huron/huron.git --recurse-submodules

Prerequisites:

1. ARM toolchains:

sudo apt update
sudo apt install gcc-aarch64-linux-gnu g++-aarch64-linux-gnu

2. Build and install third-party CAN library

cd third_party/libsockcanpp
mkdir build
cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=../../../tools/<x86_64 or arm64>-toolchain.cmake -DBUILD_SHARED_LIBS=ON
make
sudo make install

3. Build and install third-party Serial library

cd third_party/serial
mkdir build
cd build
cmake .. -DCMAKE_TOOLCHAIN_FILE=../../../tools/<x86_64 or arm64>-toolchain.cmake -DBUILD_SHARED_LIBS=ON
make
sudo make install

4. Build and install Mujoco (if needed)

//Install glfw
//Install Mujoco from source. Follow instruction at https://mujoco.readthedocs.io/en/stable/programming/index.html

Build and install:

1. Make sure you are in the root of this repo (huron/)
2. Create build folder

mkdir build

3. Build the project

cd build
cmake .. [-DBUILD_TYPE=<build-type>] [-DUSE_PINOCCHIO=1]
make

4. Install huron

sudo make install

Notes:

• Currently, the project can be built on Linux only
• By default, the project builds for Raspberry Pi 64-bit (arm64). To change platform, BUILD_TYPE needs to be changed. For example, on Linux x86_64: -DBUILD_TYPE=x86_64

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Uninstall:

cd build
sudo make uninstall