wpi-aim / ros_geomagic Goto Github PK

Hi,

I have 3D Systems' Touch device and run this package and device with ROS noetic on Ubuntu 20.04. I can calibrate and read all encoder data from Touch_Diagnostic. When I do roslaunch geomagic_control geomagic_headless.launch, I have these ros topic list:
rostopic list
/Geomagic/button
/Geomagic/force_feedback
/Geomagic/joint_states
/Geomagic/joy
/Geomagic/pose
/Geomagic/twist
/rosout
/rosout_agg
/tf
/tf_static

When I echo all ros topics, I recognize that there is data coming from buttons and passive wrist joints (from gimbal encoders) but not from active joints such as

when I do rostopic echo /Geomagic/joint_states, only gimbal positions are published:
position: [-0.0, 0.0, 0.0, 2.5234922488504132, -2.9634022653083116, 4.908947141962596]

or when I do rostopic echo /Geomagic/pose, only orientation data are published:
pose:
position:
x: 0.0
y: -110.0
z: -35.0
orientation:
x: -0.405031046104968
y: -0.036064943439096685
z: -0.6450909096350691
w: 0.6469210967625927

Do you know that is there any reason for that?

Thanks,
KC

Environment
Ubuntu 16.04 LTS 64-bit
ROS-Kinetic
Openhaptics_3.4-0-developer-edition
geomagic_touch_device_driver_2016.1-1
Equipment
Geomagic Touch（Phantom Omni) -Ethernet connection
Description
Hi, I encountered some errors while running the posted package. I followed the steps in the readme file to configure, connected the Geomagic Touch, and used set-up to configure, and the device was detected in diagnostics. But when I ran roslaunch geomagic_control geomagic.launch, it came with the following error:

HD Error: HD_COMM_ERROR
Communication Error: Check the device connection and configuration.
HHD: 0
Error Code: 302
Internal Error Code: -28
Message: Error during main scheduler callback

I wonder if you have encountered similar problems and can you provide me with some solutions. Thanks!
Best,
Jin