WPI-AIM / ros_geomagic

ROS Interface for Geomagic Touch and Phantom

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