Repository Summary
| Checkout URI | https://github.com/kth-ros-pkg/biotac_driver.git |
| VCS Type | git |
| VCS Version | hydro |
| Last Updated | 2014-08-06 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| biotac_driver | 0.1.0 |
| biotac_log_parser | 0.1.0 |
| biotac_logger | 0.1.0 |
| biotac_sensors | 0.1.0 |
| cheetah_lib | 0.1.0 |
| rosjson_time | 0.1.0 |
README
biotac_driver
Overview
Biotac low level driver and ROS nodes from UPenn's biotac_stack contained in the Penn-haptics-bolt repository (https://github.com/IanTheEngineer/Penn-haptics-bolt.git).
The following instructions are from the README.md file in the Penn-haptics-bolt respository. For more details also look at the UPenn Haptics group's wiki page: http://bolt-haptics.seas.upenn.edu/index.php/Main/HomePage
Installing
Cheetah USB rules
In order to be able to read the Biotac data via the Cheetah SPI-USB board you first have to copy the udev rules
Download the Cheetah SPI board drivers tp-usb-drivers-v2.10.zip from http://www.totalphase.com/products/cheetah_spi/
Unzip the folder unzip tp-usb-drivers-v2.10.zip
Copy the udev rules sudo cp tp-usb-drivers-v2.10/linux/99-totalphase.rules /etc/udev/rules.d/
ROS package installation
After copying the Cheetah udev rules you can download and compile the ROS package. Also make sure you have a working catkin workspace (look at the ROS tutorials).
Download the package to the catkin workspace:
cd ~/catkin_ws/src/
git clone -b <ros_distro> https://github.com/kth-ros-pkg/biotac_driver.git
Where <ros-distro> can be the groovy or hydro branch.
Otherwise you can use ROS's wstool:
cd ~/catkin_ws/src/
wstool init
wstool set biotac_driver --git https://github.com/kth-ros-pkg/biotac_driver.git -v <ros_distro>
wstool update biotac_driver
Then compile the workspace:
cd ~/catkin_ws && catkin_make
Electrical connections
(Try for this order, but it doesn't really matter) 1. Plug the biotac sensors into the Multi-BioTac board
Plug the +5V nano-USB cable into the MBTB and your computer's USB
Plug the Cheetah's 10 pin ribbon cable into the MBTB
Plug the Cheetah's USB into your computer's USB port
Running the ROS nodes
To start reading the sensors rosrun biotac_sensors biotac_pub
Check to make sure your sensors are working: rostopic echo biotac_pub
Then to log some data in JSON form: rosrun biotac_logger biotac_json_logger.py _filename:=trial_001.json
Matlab GUI
Please see the Penn Bolt Wiki for instructions on how to use the GUI
http://bolt-haptics.seas.upenn.edu/index.php/Software/MatlabGUI