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"
  1. Run $ sudo service udev restart
  2. 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
  1. 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 <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

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

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

Table Of Contents

This Page