Since I've uploaded a few YouTube videos showing multiple Phantom Omnis running on a single ROS machine a couple of years ago (2013), many people have asked me to share the driver I wrote. I haven't polished the code for the following reasons:

• The driver was a quick hack just for private testing.
• I no longer have Phantom Omni devices to test.

However, I've got very polite emails from a couple of people for the driver. So I decided to upload the code as is.

There are two launch files for raw_omni. You need to rewrite the serial numbers (printed on the bottom) to match your setup:

• raw_omni/launch/single_omni.launch
• raw_omni/launch/multi_omni.launch

• Reverse Engineered: Multiple Phantom Omni on Single ROS/Linux Machine
• Automatic Homing

• Yutaka Tsutano (http://yutaka.tsutano.com)

• See the LICENSE.md file for license rights and limitations (ISC).