ROS Node for Sensable Phantom Omni devices.
- Author: Hai Nguyen, Marc Killpack, Chi-Hung King, Advisor: Prof. Charlie Kemp, Lab: Healthcare Robotics Lab at Georgia Tech
- License: new BSD
- Source: git https://code.google.com/p/gt-ros-pkg.hrl/
- Phantom Omni device.
OpenHaptics SDK (download here)
Installing the OpenHaptics SDK
Place the downloaded SDK into the phantom_omni package:
mv OpenHapticsAE_Linux_v3_0.zip `rospack find phantom_omni`/
Launch the provided installation script (this will not work on 64-bit installations, or with versions of Ubuntu newer than 10.10 - see notes below):
roscd phantom_omni ./install_open_haptics.sh
Compiling and Starting
Make and run the omni node with:
rosmake phantom_omni rosrun phantom_omni omni
64-bit installation: you will need to edit install_open_haptics.sh and replace instances of '32-bit' with '64-bit' and 'i386' with 'amd64' (someone should update this script so that the platform architecture is detected automatically). Additionally, you may get an error about missing libHD libraries when trying to run the omni node. I think this is because OpenHaptics oddly installs libraries to /usr/lib64. I think the best way to solve this is to create a file /etc/ld.so.conf.d/openhaptics.conf with the line '/usr/lib64'.
Ubuntu versions 11.04 and later: Ubuntu no longer uses raw1394, so you cannot use the OpenHaptics v3.0 drivers out of the box. Until v3.1 is released, you have two options:
- (recommended) Replace the drivers with the unstable "JUJU" drivers that are available in the DSC forums.
Create a "dummy" raw1394 module according to this HowTo article. One consequence of this is that the set_permissions_1394.sh script will fail. Instead of using this script, follow the instructions at http://superuser.com/a/239692 to permanently set permissions.
Drift: the Omni's pose will drift from time to time, to correct for this restart the node with the stylus outside the calibration well, then place the stylus in when prompted.
Device not found errors
- This can happen if your Omni is not paired with your computer fix by running /usr/sbin/PHANToMConfiguration again.
- You might not have access to /dev/raw1394 to fix execute set_permissions_1394.sh.
Using more than one device on one Linux machine: currently, the Linux Omni driver is restricted to operating on only one device at a time. To use two devices (i.e. for controller a humanoid robot), you will need two different machines. It's a good thing that ROS is around : )
omniIn the below, replace OMNI_NAME with the appropriate value set for the parameter ~omni_name (defaults to omni1)
Subscribed TopicsOMNI_NAME_force_feedback (geometry_msgs/Wrench)
- A wrench in the OMNI_NAME_sensable frame to play back on the Omni.
Published Topicstf (tf/tfMessage)
- OMNI_NAME_link0, OMNI_NAME_link6, and OMNI_NAME_sensable
- State of the Phantom Omni's buttons.
- A static point representing the tip of the Omni end-effector. Note that this point is being published in the frame defined by link6 so a TF will be needed to get the end-effector pose wrt to link0.
Parameters~omni_name (string, default: omni1)
- Name for this omni device.