takktile-ros
ros drivers for the TakkTile tactile array
1.) Install TakkTile TakkFast USB drivers (see https://github.com/TakkTile/TakkTile-usb)
This will install TakkTile.py which is a dependency (currently included as a symlink -- need to fix this)
- Get code
git clone --recursive https://github.com/harvardbiorobotics/takktile_ros.git
- Add the package path to the ROS_PACKAGE_PATH
export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/path/to/this/directory
or add it to the bashrc
echo "ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/path/to/this/directory" >> ~/.bashrc
source ~/.bashrc
- Compile
rosmake takktile_ros
- set USB permissions
sudo cp 71-takktile.rules /etc/udev/rules.d/
- Run
rosrun takktile_ros takktile_node.py
- Plot (in another terminal while takktile_node.py is running)
ROS Fuerte and earlier releases:
rxplot /takktile/calibrated/pressure[0]:pressure[1]:pressure[2]:pressure[3]:pressure[4]
ROS Fuerte and later releases:
rqt_plot /takktile/calibrated/pressure[0]:pressure[1]:pressure[2]:pressure[3]:pressure[4]