ROS Interface for Geomagic Touch Haptic device
Dane Powell https://github.com/danepowell/phantom_omni.git
Hai Nguyen, Marc Killpack, Chi-Hung King, Sven Bock, Prof. Charlie Kemp https://github.com/HumaRobotics/geomagic_touch
Adnan Munawar
First, please install the Openhaptics SDK from this location:
https://github.com/jhu-cisst-external/phantom-omni-1394-drivers
After you build the package with ROS, you can run it as
roslaunch geomagic_control geomagic_headless.launch
This should start streaming the ROS topics with the states of the device.
For Phantom Omni, you may need admin priviliges to access the device. The simplest way is to run the following command in your terminal.
sudo chmod a+rw /dev/fw*
Then you can try rerunning the roslauch command above.
sudo ln -s /usr/lib64/libPHANToMIO.so.4.3 /usr/lib/libPHANToMIO.so.4
sudo ln -s /usr/lib/libPHANToMIO.so.4 /usr/lib/libPHANToMIO.so
sudo ln -s /usr/lib/libPHANToMIO.so.4 /usr/lib/libPhantomIOLib42.so