在ros下使用omni

ros下启动omni手控器，订阅话题

• usb设为可执行

cd ~/omni/TouchDriver2019_2_15_Linux/TouchDriver2019_2_14

./ListUSBHapticDevices 
# /dev/ttyACM0

./ListUSBHapticDevices /dev/ttyACM0
# /dev/ttyACM0

sudo chmod 777 /dev/ttyACM0

• 运行omni_common omni_state.launch

cd ~/car_ws/src/Geomagic_Touch_ROS_Drivers-hydro-devel/omni_common/launch

roslaunch omni_common omni_state.launch

• 运行python，订阅话题

cd ~/car_ws/src/Geomagic_Touch_ROS_Drivers-hydro-devel/omni_common/src
python listener4.py

手控器相关话题

启动launch文件后的话题列表为：

$ rostopic list

/phantom/button
/phantom/force_feedback
/phantom/joint_states
/phantom/pose
/phantom/state
/rosout
/rosout_agg

• /phantom/button

guyue@guyue:~$ rostopic echo /phantom/button


grey_button: 1
white_button: 0
---
grey_button: 0
white_button: 0
---

• /phantom/joint_states

guyue@guyue:~$ rostopic echo /phantom/joint_states


---
header: 
  seq: 44057
  stamp: 
    secs: 1627442790
    nsecs: 151462066
  frame_id: ''
name: [waist, shoulder, elbow, yaw, pitch, roll]
position: [-0.0, 0.26888954639434814, -0.6397024393081665, 3.1529915687912187, -3.13045995831292, -3.447229327755519]
velocity: []
effort: []
---

• /phantom/pose

guyue@guyue:~$ rostopic echo /phantom/pose


---
header: 
  seq: 516525
  stamp: 
    secs: 1627390215
    nsecs: 931911788
  frame_id: "/map"
pose: 
  position: 
    x: 0.0
    y: 0.0881141967773
    z: -0.0655107116699
  orientation: 
    x: -0.181168104759
    y: -0.0779586342595
    z: -0.385540513457
    w: 0.901365121161
---

• /phantom/state

guyue@guyue:~$ rostopic echo /phantom/state


---
header: 
  seq: 581194
  stamp: 
    secs: 1627390280
    nsecs: 600925748
  frame_id: ''
locked: True
close_gripper: True
pose: 
  position: 
    x: -24.5597171783
    y: 15.7225236893
    z: -9.16426181793
  orientation: 
    x: -0.132378251324
    y: -0.111142464598
    z: -0.768582546722
    w: 0.615957969357
current: 
  x: 0.0
  y: 0.0
  z: 0.0
velocity: 
  x: -0.210287976682
  y: -1.33447144402
  z: 0.610092210632
---

报错及解决

错误1 不能复制文件

ubuntu cp拷贝文件夹报错“文件系统不支持符号链接”

• 解决
  说明待拷贝的文件夹内部有不支持拷贝的文件格式，可以将文件夹压缩为压缩包，再复制
  参考：https://blog.csdn.net/Q893448322/article/details/116023201

错误2 missing: SDL_LIBRARY SDL_INCLUDE_DIR

将复制过来的文件解压，将工作空间中的devel和build文件夹删除，运行catkin_make，报错：

Could NOT find SDL (missing: SDL_LIBRARY SDL_INCLUDE_DIR)

• 解决

sudo apt-get install libsdl-dev

参考：https://blog.csdn.net/weixin_30819163/article/details/97343928

错误3 missing: SDL_LIBRARY SDL_INCLUDE_DIR

解决完上面的问题，再次运行catkin_make，报错：

Could NOT find SDL_image (missing: SDL_IMAGE_LIBRARIES SDL_IMAGE_INCLUDE_DIRS)

• 解决

sudo apt-get install libsdl-image1.2-dev

参考：https://blog.csdn.net/weixin_30563319/article/details/97343932

错误4 Could not find a package configuration file provided by “libuvc”

解决完上面的问题，再次运行catkin_make，报错：

Could not find a package configuration file provided by "libuvc" with any
  of the following names:

    libuvcConfig.cmake
    libuvc-config.cmake

• 解决

sudo apt-get install ros-melodic-libuvc

参考：https://blog.csdn.net/JimmyC18/article/details/108273954

问题5 Invoking “make -j16 -l16” failed

解决完上面的问题，再次运行catkin_make，报错：

Makefile:140: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j16 -l16" failed

• 解决
  好多都说是在opencv中报错的，然后想到以前装opencv的时候，"make -j16 -l16"应该是多核编译，所以可能是卡住了或者什么
  重新运行catkin_make即可

问题6 找不到 -lncurses

重新运行catkin_meke后报错

/usr/bin/ld: 找不到 -lncurses
collect2: error: ld returned 1 exit status
/usr/bin/ld: 找不到 -lncurses
collect2: error: ld returned 1 exit status
Geomagic_Touch_ROS_Drivers-hydro-devel/omni_common/CMakeFiles/omni.dir/build.make:118: recipe for target '/home/guyue/catkin_ws/devel/lib/omni_common/omni' failed
make[2]: *** [/home/guyue/catkin_ws/devel/lib/omni_common/omni] Error 1
CMakeFiles/Makefile2:11777: recipe for target 'Geomagic_Touch_ROS_Drivers-hydro-devel/omni_common/CMakeFiles/omni.dir/all' failed
make[1]: *** [Geomagic_Touch_ROS_Drivers-hydro-devel/omni_common/CMakeFiles/omni.dir/all] Error 2
make[1]: *** 正在等待未完成的任务....
Geomagic_Touch_ROS_Drivers-hydro-devel/omni_common/CMakeFiles/omni_state.dir/build.make:118: recipe for target '/home/guyue/catkin_ws/devel/lib/omni_common/omni_state' failed
make[2]: *** [/home/guyue/catkin_ws/devel/lib/omni_common/omni_state] Error 1
CMakeFiles/Makefile2:11738: recipe for target 'Geomagic_Touch_ROS_Drivers-hydro-devel/omni_common/CMakeFiles/omni_state.dir/all' failed
make[1]: *** [Geomagic_Touch_ROS_Drivers-hydro-devel/omni_common/CMakeFiles/omni_state.dir/all] Error 2

• 解决

sudo apt-get install ros-melodic-libuvc

参考：https://blog.csdn.net/weixin_43723326/article/details/103427351

问题7 [omni_state.launch] is neither a launch file in package [omni_common] nor is [omni_common] a launch file name

catkin_make成功后，运行launch文件，报错：

RLException: [omni_state.launch] is neither a launch file in package [omni_common] nor is [omni_common] a launch file name
The traceback for the exception was written to the log file

• 解决
  这应该是因为新复制过来的工作空间没有添加路径

echo "source ~/car_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

添加完路径后，需要重新打开终端