This package implements a simple ROS2 node for interfacing with Force Dimension haptics robots, with the objective of simplifying the process of developing applications involving haptic devices. For further background information, please see the internal documentation related to Force Dimension and ROS.
This package has been tested with ROS2 Galactic, ROS2 Humble, and ROS2 Iron. It has been tested with Ubuntu Linux and Microsoft Windows, as well as Windows Subsystem for Linux (WSL2).
Ensure that the package is properly installed and that the robots are calibrated. The package can then be used -- in a configured ROS2 environment -- like any other ROS2 package. For example, a Force Dimension server node can be invoked and queried from the command line.
When designing client nodes that can interact with the Force Dimension server node, the Python example is a good place to start. The example can be invoked with a single command:
> ros2 launch force_dimension example.launch.pyAlso see the documentation related to the topics and parameters associated with the ROS2 node.
Copyright 2022-2023 Neuromechatronics Lab, Carnegie Mellon University
Created by: a. whit. (nml@whit.contact)
This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at https://mozilla.org/MPL/2.0/.