3D Systems Geomagic Touch ROS Driver

ROS Packages for connecting one or more 3D Systems Geomagic Touch (previously known as Phantom Omni) haptic devices, USB & HID versions.

For HID Devices, please read this issue and follow the guide below.

This repository has been forked from the original repository by Francisco Suárez Ruiz, http://fsuarez6.github.io for the Sensable PHANToM haptic device (https://github.com/fsuarez6/phantom_omni).

ROS packages developed by the Group of Robots and Intelligent Machines from the Universidad Politécnica de Madrid. This group is part of the Centre for Automation and Robotics (CAR UPM-CSIC).

Installation

1. Install Dependencies

sudo apt-get install --no-install-recommends freeglut3-dev g++ libdrm-dev libexpat1-dev libglw1-mesa libglw1-mesa-dev libmotif-dev libncurses5-dev libraw1394-dev libx11-dev libxdamage-dev libxext-dev libxt-dev libxxf86vm-dev tcsh unzip x11proto-dri2-dev x11proto-gl-dev x11proto-print-dev

2. On Ubuntu 14.04:

   1. Download and Extract OpenHaptics and Haptic Device drivers

   Download drivers using instructions at: https://3dsystems.teamplatform.com/pages/102863?t=fptvcy2zbkcc
   If you cannot access that page, use Old device drivers on the bottom of this README

   For HID Devices, download drivers from: https://support.3dsystems.com/s/article/OpenHaptics-for-Linux-Developer-Edition-v34?language=en_US

   2. Install Openhaptics

   cd ~/openhaptics_3.4-0-developer-edition-amd64/
   sudo ./install
   # This gets installed in the following directory
   /opt/OpenHaptics/ 
   

   3. Install Geomagic Driver

   cd ~/geomagic_touch_device_driver_2015.5-26-amd64/
   sudo ./install
   # This gets installed in the following directory:
   /opt/geomagic_touch_device_driver/ 
   

   4. (Only For 64-bit Systems) Create Symbolic Links to OpenHaptics SDK Libraries

   sudo ln -s /usr/lib/x86_64-linux-gnu/libraw1394.so.11.0.1 /usr/lib/libraw1394.so.8
   sudo ln -s /usr/lib64/libPHANToMIO.so.4.3 /usr/lib/libPHANToMIO.so.4
   sudo ln -s /usr/lib64/libHD.so.3.0.0 /usr/lib/libHD.so.3.0
   sudo ln -s /usr/lib64/libHL.so.3.0.0 /usr/lib/libHL.so.3.0 
   

3. On Ubuntu 18.04+:
   Download and Install OpenHaptics and Haptic Device drivers using instructions at: https://support.3dsystems.com/s/article/OpenHaptics-for-Linux-Developer-Edition-v34?language=en_US
   If your Ubuntu version is not supported, use Old device drivers on the bottom of this README

4. Device setup

The haptic device always creates a COM Port as /dev/ttyACM0 and requires admin priviliges

chmod 777 /dev/ttyACM0

On Ubuntu 14.04, run Geomagic_Touch_Setup in /opt/geomagic_touch_device_driver/
On Ubuntu 18.04+, run Touch_Setup

Ensure that the device serial number is displayed

For HID Devices, use /dev/hid-raw or /dev/hid instead of /dev/ttyACM

5. Device Diagnostics

On Ubuntu 14.04, run Geomagic_Touch_Diagnostic in /opt/geomagic_touch_device_driver/
On Ubuntu 18.04+, run Touch_Diagnostic

This can be used to calibrate the device, read encoders, apply test forces etc.

6. Launch ROS Node

Clone and build this repository.

cd <ROS_workspace>/devel
source setup.bash
roslaunch omni_common omni_state.launch 

Data from the haptic device can be read from the following topics:

/phantom/button

/phantom/force_feedback

/phantom/joint_states

/phantom/pose

/phantom/state

Use Multiple Devices

Multiple devices can be connected by adding a unique name to each device. Following settings need to be made every time the devices are reconnected:

1. On Ubuntu 14.04, run Geomagic_Touch_Setup in /opt/geomagic_touch_device_driver/
   On Ubuntu 18.04+, run Touch_Setup

2. Add a new name by pressing Add... button in Device Name section and typing that name in the pop-up window

3. Select that name in the drop-down list of Device Name

4. Select Port Num of the device which you want to add that name to

5. Press Apply

Example to run two devices (Left Device and Right Device):

roslaunch omni_common dual_phantom.launch

Resources

https://3dsystems.teamplatform.com/pages/102863?t=fptvcy2zbkcc

https://fsuarez6.github.io/projects/geomagic-touch-in-ros/

https://github.com/fsuarez6/phantom_omni

http://dsc.sensable.com/viewtopic.php?t=5730&sid=9866fe798e24bc745fdb7fce08ee99eb

Old device drivers https://drive.google.com/drive/folders/1WJY6HpdtGh5zeyASfb4FYJFFG-QGItd6?usp=sharing

Citation

Please cite these papers in your publications if this repository helps your research.

@INPROCEEDINGS{8941790,
  author={Mathur, Bharat and Topiwala, Anirudh and Schaffer, Saul and Kam, Michael and Saeidi, Hamed and Fleiter, Thorsten and Krieger, Axel},
  booktitle={2019 IEEE 19th International Conference on Bioinformatics and Bioengineering (BIBE)}, 
  title={A Semi-Autonomous Robotic System for Remote Trauma Assessment}, 
  year={2019},
  volume={},
  number={},
  pages={649-656},
  doi={10.1109/BIBE.2019.00122}}
  
@inbook{doi:10.1137/1.9781611975758.2,
author = {B. Mathur and A. Topiwala and H. Saeidi and T. Fleiter and A. Krieger},
title = {Evaluation of Control Strategies for a Tele-manipulated Robotic System for Remote Trauma Assessment},
booktitle = {2019 Proceedings of the Conference on Control and its Applications (CT)},
chapter = {},
pages = {7-14},
doi = {10.1137/1.9781611975758.2},
URL = {https://epubs.siam.org/doi/abs/10.1137/1.9781611975758.2},
eprint = {https://epubs.siam.org/doi/pdf/10.1137/1.9781611975758.2}}