DynPick ROS driver¶

img_model_wdf_6m200_3

Prerequisite¶

(Only tested on) Ubuntu 12.04 and 14.04 64bit.

ROS Hydro or Indigo needs to be installed.

Install¶

Create /etc/udev/rules.d/80-wakoh.rules with the following line
## see https://github.com/tork-a/dynpick_driver
ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea60", MODE="0666"
Run $ sudo service udev restart

Plug the sensor USB to the Ubuntu computer. Also make sure that the following device was detected.
$ lsusb
:
Bus 003 Device 004: ID 10c4:ea60 Cygnal Integrated Products, Inc. CP210x Composite Device
Obtain dynpick_driver package.

4-a. Via DEB (RECOMMENDED). Run sudo apt-get install ros-hydro-dynpick-driver.

4-b. (Source build. Not recommended) clone this repository and build.:
$ cd %YOUR_CATKING_WORKSPACE%/src
$ git clone https://github.com/tork-a/dynpick_driver.git
$ cd %YOUR_CATKING_WORKSPACE%
$ catkin_make

Operation¶

You can view the force and torque vectors in rviz by launching run.launch:

 $ roslaunch dynpick_driver run.launch

You can configure some things by passing arguments::

 $ roslaunch dynpick_driver run.launch device:=/dev/ttyUSB0 rate:=500 sensor_frame_id:=/sensor/force rvizconfig:=`rospack find dynpick_driver`/launch/sample.rviz

where:

* `device`: port name of the connected sensor device
* `rate`: refresh rate
* `sensor_frame_id`: This name will be used as a `tf <http://wiki.ros.org/tf>`_ frame of the connected sensor device
* `rvizconfig`: name of the `RViz configuration file <http://wiki.ros.org/rviz/UserGuide#Configurations>`_ that can be used for storing your own `RViz` setting
* `topic`: name of the published topic (WrenchStamped). Default is '/force'

Video is posted on ROS wiki