ros drivers for the TakkTile tactile array

1.) Install TakkTile TakkFast USB drivers (see https://github.com/TakkTile/TakkTile-usb)

Follow instructions at [http://www.takktile.com/tutorial:takkfast]

This will install TakkTile.py which is a dependency (currently included as a symlink -- need to fix this)

2. Get code

git clone https://github.com/UM-ARM-Lab/takktile_ros.git

Change the symlink:

cd ~/catkin_ws/src/takktile_ros/src
ln -sf [PATH TO TakkTile.py] TakkTile.py

3. Compile

catkin_make (or catkin build)

4. set USB permissions

sudo cp 71-takktile.rules /etc/udev/rules.d/

5. Run

rosrun takktile_ros takktile_node.py

6. Plot (in another terminal while takktile_node.py is running)

rqt_plot /takktile/calibrated/pressure[0]:pressure[1]:pressure[2]:pressure[3]:pressure[4]