ROS Packages for 3D Systems Geomagic Touch haptic device, USB version.

This repository has been forked from the original repository by Francisco Suárez Ruiz, http://fsuarez6.github.io for the Sensable PHANToM haptic device (https://github.com/fsuarez6/phantom_omni).

ROS packages developed by the Group of Robots and Intelligent Machines from the Universidad Politécnica de Madrid. This group is part of the Centre for Automation and Robotics (CAR UPM-CSIC).

1. Install Dependencies

sudo apt-get install --no-install-recommends freeglut3-dev g++ libdrm-dev libexpat1-dev libglw1-mesa libglw1-mesa-dev libmotif-dev libncurses5-dev libraw1394-dev libx11-dev libxdamage-dev libxext-dev libxt-dev libxxf86vm-dev tcsh unzip x11proto-dri2-dev x11proto-gl-dev x11proto-print-dev

2. Download and Extract OpenHaptics and Haptic Device drivers

Download drivers using instructions at: https://3dsystems.teamplatform.com/pages/102863?t=fptvcy2zbkcc

3. Install Openhaptics

cd ~/openhaptics_3.4-0-developer-edition-amd64/
sudo ./install
# This gets installed in the following directory
/opt/OpenHaptics/ 

4. Install Geomagic Driver

cd ~/geomagic_touch_device_driver_2015.5-26-amd64/
sudo ./install
# This gets installed in the following directory:
/opt/geomagic_touch_device_driver/ 

5. (Only For 64-bit Systems) Create Symbolic Links to OpenHaptics SDK Libraries

sudo ln -s /usr/lib/x86_64-linux-gnu/libraw1394.so.11.0.1 /usr/lib/libraw1394.so.8
sudo ln -s /usr/lib64/libPHANToMIO.so.4.3 /usr/lib/libPHANToMIO.so.4
sudo ln -s /usr/lib64/libHD.so.3.0.0 /usr/lib/libHD.so.3.0
sudo ln -s /usr/lib64/libHL.so.3.0.0 /usr/lib/libHL.so.3.0 

6. Device setup

The haptic device always creates a COM Port as /dev/ttyACM0 and requires admin priviliges

chmod 777 /dev/ttyACM0

Run Geomagic_Touch_Setup in /opt/geomagic_touch_device_driver/

Ensure that the device serial number is displayed

7. Device Diagnostics

Run Geomagic_Touch_Diagnostic in /opt/geomagic_touch_device_driver/

This can be used to calibrate the device, read encoders, apply test forces etc.

8. Launch ROS Node

Clone and build this repository.

cd <ROS_workspace>/devel
source setup.bash
roslaunch omni_common omni_state.launch 

Data from the haptic device can be read from the following topics:

/phantom/button

/phantom/force_feedback

/phantom/joint_states

/phantom/pose

/phantom/state

https://3dsystems.teamplatform.com/pages/102863?t=fptvcy2zbkcc

https://fsuarez6.github.io/projects/geomagic-touch-in-ros/

https://github.com/fsuarez6/phantom_omni

http://dsc.sensable.com/viewtopic.php?t=5730&sid=9866fe798e24bc745fdb7fce08ee99eb

Old device drivers https://drive.google.com/drive/folders/1WJY6HpdtGh5zeyASfb4FYJFFG-QGItd6?usp=sharing