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Only released in EOL distros:  

hrl_hardware_drivers: force_torque | hrl_hokuyo | hrl_segway_omni | hrl_tilting_hokuyo | pan_tilt_robotis | phantom_omni | robotis | zenither

Package Summary

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/ (branch: master)

Note: this package doesn't seem to have been updated in several years. For a Catkinized Groovy-compatible fork, see https://github.com/danepowell/phantom_omni

Requirements

Running

Installing the OpenHaptics SDK

The script install_open_haptics.sh is provided as a convenient way to install the SDK. However, as of Ubuntu 10.10, this script no longer works (see notes below), so it's recommended that you install the SDK manually.

If you want to use the script anyway, place the downloaded SDK into the phantom_omni package:

mv OpenHapticsAE_Linux_v3_0.zip `rospack find phantom_omni`/

Launch the installation script:

roscd phantom_omni
./install_open_haptics.sh

Compiling and Starting

Make and run the omni node with:

rosmake phantom_omni
rosrun phantom_omni omni

Troubleshooting

ROS API

omni

In the below, replace OMNI_NAME with the appropriate value set for the parameter ~omni_name (defaults to omni1)

Subscribed Topics

OMNI_NAME_force_feedback (geometry_msgs/Wrench)

Published Topics

tf (tf/tfMessage) OMNI_NAME_button (phantom_omni/PhantomButtonEvent) OMNI_NAME_pose (geometry_msgs/PoseStamped)

Parameters

~omni_name (string, default: omni1)

2019-11-16 13:07