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ROS Interface for Geomagic Touch and Phantom

CMake 3.68% Python 14.82% C++ 81.49%

phantom-omni geomatic-touch ros-geomagic ros-haptic ros-driver

ros_geomagic's Introduction

Description

ROS Interface for Geomagic Touch Haptic device

Original Author (Phantom Omni Interface)

Dane Powell https://github.com/danepowell/phantom_omni.git

Authors (Conversion from Phatom Omni to Geomagic Touch)

Hai Nguyen, Marc Killpack, Chi-Hung King, Sven Bock, Prof. Charlie Kemp https://github.com/HumaRobotics/geomagic_touch

Extended Author and Maintainer

Adnan Munawar

Ubuntu 16.06, 18.04 and 20.04:

First, please install the Openhaptics SDK from this location:

https://github.com/jhu-cisst-external/phantom-omni-1394-drivers

How to run

After you build the package with ROS, you can run it as

roslaunch geomagic_control geomagic_headless.launch

This should start streaming the ROS topics with the states of the device.

Known Issues

For Phantom Omni, you may need admin priviliges to access the device. The simplest way is to run the following command in your terminal.

sudo chmod a+rw /dev/fw*

Then you can try rerunning the roslauch command above.

Deprecated:

sudo ln -s /usr/lib64/libPHANToMIO.so.4.3 /usr/lib/libPHANToMIO.so.4
sudo ln -s /usr/lib/libPHANToMIO.so.4 /usr/lib/libPHANToMIO.so
sudo ln -s /usr/lib/libPHANToMIO.so.4 /usr/lib/libPhantomIOLib42.so

ros_geomagic's People

Contributors

Stargazers

Watchers

Forkers

jackhaoyingzhou leiqtcv drliaowu gmoustri mikami520 bharatm11 monashrobotics

ros_geomagic's Issues

USB connection failure when using ethernet

Hello, hopefully you can help me out with this one.

I have connected my Geomagic Touch via Ethernet to my PC running Ubuntu 20.04. I am using ROS noetic. The device is paired, but when I run the headless launch node, this error comes up and I can't progress further:

stty: /dev/ttyACM300: No such file or directory

The Transform Resets to Origin from time to time

No data from active joint encoders

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

HD_COMM_ERROR while running the roslaunch

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

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