bharatm11 / geomagic_touch_ros_drivers Goto Github PK

Dear @bharatm11

I have installed all the drivers and your repository in three different computers with all the USB ports however I have not managed to get the haptic devices connected in Ubuntu 16.04 with any of them. First of all 3D Systems suggest that the vendor ID and device ID must be 0301:2988, but ID's of my device are 2988:0302.

When I first open the Geomagic Touch Setup, a serial number is shown on the screen, however when I click on "Apply" serial number disappears and it says "No devices found instead. Geomagic Touch Diagnostic cannot initialize the the device at all.


Testing any of the OpenHaptics example codes causes the following error.

Finally, running "roslaunch omni_common omni_state.launch" causes the following error.

I have two devices, and I have separately tested them in all the USB ports of 3 different computers (2 laptops and 1 desktop). On Windows everything works fine on the same computers but in Ubuntu 16.04 I get the same errors for both devices in all of the computers. I have checked similar errors in 3D systems forums but none of the solutions worked. Do you know any solution for this problem?

[Hi @bharatm11 ,

While using the driver, I noticed that the x y z position of the Geomagic doesn't change when manipulating the stylus (seen on the topic /phantom/pose). They stay fixed at the values showed in the picture below (0; 0.035; -0.11).
This in contrast to the orientation parameters which are varying continuously.

In order to get the pose of the stylus in another way, I opt using a tf2 transformation on the joint states. But either they are getting the value of 0 at the waist, shoulder and elbow. I also added a screenshot of this below.

I tried figuring out why this is happening by going over the code, but could not find a solution. I mentioned an unknown calibration status when launching the ''omni_state.launch''. Could this be the problem?

Thank you in Advance.

In Installation of README.md, there is a device drivers download link link below.

2. Download and Extract OpenHaptics and Haptic Device drivers
   Download drivers using instructions at: https://3dsystems.teamplatform.com/pages/102863?t=fptvcy2zbkcc

However, this download link is broken.
Should I use an old device driver?
Please fix.

I have set up the device connection successfully using LAN.

But there is still a problem when I diagnose the device.

Could you help me solve this?

hello
when I try to run roslaunch omni_common omni.launch, but I get this error:

tank you for your help.

Dear @bharatm11,

I wanted to ask what the purpose of the position variable in the OmniFeedback message type.

I tried playing around with the value when publishing to the topic and was unable to see any difference in behaviour with different values, and I found the description provided in the file a bit cryptic since the Touch itself would already know its own end effector position.

My intuition from browsing the code was that it is a "point" in the Touch's coordinate frame, where closer you get to it more force is applied, but that makes me think we'd be passing an array of such points to generate a 3D plane/surface which provides more feedback the more you try to push past it (much like the example in the diagnostic).

Or is the "robot arm" in question an external arm that is being teleoperated with haptic feedback by the Touch whose positions we are feeding back into the Touch?

Thank you for your help.