DynPick ROS driver
==================================
|img_model_wdf_6m200_3|
ROS driver for `Wacoh-tech force sensor `_.
Prerequisite
==============
* (Only tested on) Ubuntu 14.04 64bit.
* ROS Indigo needs to be installed.
Install
==========
1. 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"
2. Run `$ sudo service udev restart`
3. 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
4. Obtain `dynpick_driver` package.
4-a. Via DEB (RECOMMENDED). Run `sudo apt-get install ros-indigo-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 sample.launch
You can configure some things by passing arguments::
$ roslaunch dynpick_driver sample.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 `_ frame of the connected sensor device
* `rvizconfig`: name of the `RViz configuration file `_ 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 `_
Document
========
ROS API
--------
Published Topics
~~~~~~~~~~~~~~~~~~
`/force` (`geometry_msgs/WrenchStamped `_)
Services
~~~~~~~~~~~~~~~~~~
`/dynpick_driver_node/get_loggers` (`roscpp/GetLoggers `_)
`/dynpick_driver_node/set_logger_level` (`roscpp/SetLoggerLevel `_)
Parameters
~~~~~~~~~~~~~~~~~~
`/dynpick_driver_node/device`
Device file location. e.g. `/dev/ttyUSB0`
`/dynpick_driver_node/frame_id`
Sensor's `tf` frame id. Default: `/sensor`
`/dynpick_driver_node/rate`
Publish rate. Default: 1000 hz
Documentation
--------
`API doc is available `_ also on `ros.org.`_
DEB build status
================
+--------------+-----------------------------------+------------------------------------+--------------------------------+--------------------------------------+--------------------------------------+-------------------------------+
| ROS Distro | Development Branch (travis) | Development branch (ros.org) | Source deb | binarydeb Trusty i386 | binarydeb Trusty AMD64 | Documentation (ros.org) |
+==============+===================================+====================================+================================+======================================+======================================+===============================+
| Indigo | |indigo_buildstatus_devel_travis| | |indigo_buildstatus_devel_ros.org| | |indigo_buildstatus_sourcedeb| | |indigo_buildstatus_binarydeb_amd64| | |indigo_buildstatus_binarydeb_amd64| | |indigo_buildstatus_doc| |
+--------------+-----------------------------------+------------------------------------+--------------------------------+--------------------------------------+--------------------------------------+-------------------------------+
`Devel Test Status `_
-------------------------------------------------------------------------------------
ROS Indigo
|indigo_job_devel-indigo-dynpick_driver|
.. |img_model_wdf_6m200_3| image:: http://www.wacoh-tech.com/img/img_model_wdf_6m200_3.jpg
.. |indigo_buildstatus_devel_travis| image:: https://travis-ci.org/tork-a/dynpick_driver.png?branch=master
.. |indigo_buildstatus_devel_ros.org| image:: http://build.ros.org/job/Idev__dynpick_driver__ubuntu_trusty_amd64/badge/icon
.. |indigo_buildstatus_sourcedeb| image:: http://build.ros.org/job/Isrc_uT__dynpick_driver__ubuntu_trusty__source/badge/icon
.. |indigo_buildstatus_binarydeb_i386| image:: http://build.ros.org/job/Ibin_uT64__dynpick_driver__ubuntu_trusty_i386__binary/badge/icon
.. |indigo_buildstatus_binarydeb_amd64| image:: http://build.ros.org/job/Ibin_uT64__dynpick_driver__ubuntu_trusty_amd64__binary/badge/icon
.. |indigo_buildstatus_doc| image:: http://build.ros.org/job/Idoc__dynpick_driver__ubuntu_trusty_amd64/badge/icon