ubuntu18.04 moveit geomagic touch配置及使用

 一 moveit安装配置：

安装moveit：sudo apt-get install ros-melodic-moveit
配置环境：source /opt/ros/melodic/setup.bash
安装资源文件：sudo apt-get install ros-melodic-moveit-resources

        安装moveit其他包：

 sudo apt install ros-melodic-moveit-visual-tools

二 geomagic touch包安装步骤：

1 下载OpenHaptics for Linux Developer Edition v3.4

        1.1 Openhaptics for Linux v3.4                OpenHaptic的环境配置文件

        1.2 Touch Device Driver v2019.2.15        Touch的驱动文件
3D Systems Supporthttps://support.3dsystems.com/s/article/OpenHaptics-for-Linux-Developer-Edition-v34?language=en_US

2 OpenHaptic的环境配置文件

环境配置文件是一个后缀为openhaptics的压缩包，我们把它解压到任意位置，然后打开terminal

cd到解压后的文件夹目录下
sudo ./install

3 TouchDriver驱动的安装
https://s3.amazonaws.com/dl.3dsystems.com/binaries/Sensable/Linux/Installation+Instructions.pdfhttps://s3.amazonaws.com/dl.3dsystems.com/binaries/Sensable/Linux/Installation+Instructions.pdf

Step 1: Download the .tar file and extract the folders. Once extracted there must be 2 main folders namely “Bin and Lib” 

Step 2: Copy the executables for Touch Setup and Touch diagnostics from the bin folder to /usr/bin and copy LibPhantomIOLib42.so to /usr/lib

sudo cp /home/wangsj/下载/TouchDriver2019_2_15_Linux/TouchDriver2019_2_14/bin/Touch_Diagnostic /usr/bin/  

sudo cp /home/wangsj/下载/TouchDriver2019_2_15_Linux/TouchDriver2019_2_14/bin/Touch_Setup /usr/bin/

sudo cp /home/wangsj/下载/TouchDriver2019_2_15_Linux/TouchDriver2019_2_14/usr/lib/libPhantomIOLib42.so /usr/lib

Step 3: In case the user does not have QT, please install QT using the command Install qt: This command is only for Debian based systems

不用操作，ubuntu版本自带qt环境

sudo apt-get install qt5-default

Step 4: Create 3DS directory to configure and save the configuration files needed to setup the Touch and Touch X devices

sudo mkdir /usr/share/3DSystems

Step 5: Set environment variable GTDD_HOME to map path of the configuration file directory created above. Add the following environment variable to the /etc/environment to make it permanent.

环境变量GTDD_HOME我们也可以直接写入/etc/enviroment文件并保存，只需添加一行GTDD_HOME="/usr/share/3DSystems"

GTDD_HOME=/usr/share/3DSystems
echo $GTDD_HOME
Logout and login again for the environmental variables to take effect use the command:
gnome-session-quit

Step 6: Create folder called "config" inside /usr/share/3DSystems.

创建文件夹config用于保存Touch连接后的配置。

sudo mkdir /usr/share/3DSystems/config

Set permissions so that the folder is accessible to all users.

sudo chmod 777 /usr/share/3DSystems/config

环境变量的生效需要先注销再重新登入ubuntu系统； 

Step 7: Connect the Haptic Device (Touch or Touch X). Use the “ListUSBHapticDevices” script to find out which port the haptic device has been assigned.

检测haptics设备的端口号（在TouchDriver目录下运行）

>bash ListUSBHapticDevices

Set permission for each com port using the command

端口赋权限

sudo chmod 777 /dev/ttyACM0 (ACM1, ACM2,ACM3 etc..)

Step 8: Once the Ports have appropriate permission or the LAN devices are linked locally, users can now successfully run the Touch Setup and Touch Diagnostic applications.

在TouchDriver的bin目录下运行sudo ./Touch_Setup，这个程序运行后会出现一个界面，确认设备号和驱动版本有显示后，我们点击"apply"和"ok"。

然后，运行sudo ./Touch_Diagnostic对Touch进行标定（先把笔头插入孔中）

三 配置ROS包环境

从github下clone包bharatm11，针对USB版的Touch做了一点修改

GitHub - bharatm11/Geomagic_Touch_ROS_Drivers: This repository consists of the ROS Drivers for 3D Systems Geomagic Touch haptic device. This repository has been forked from the original repository by @fsuarez6 for the Phantom Omni (https://github.com/fsuarez6/phantom_omni).This repository consists of the ROS Drivers for 3D Systems Geomagic Touch haptic device. This repository has been forked from the original repository by @fsuarez6 for the Phantom Omni (https://github.com/fsuarez6/phantom_omni). - GitHub - bharatm11/Geomagic_Touch_ROS_Drivers: This repository consists of the ROS Drivers for 3D Systems Geomagic Touch haptic device. This repository has been forked from the original repository by @fsuarez6 for the Phantom Omni (https://github.com/fsuarez6/phantom_omni).https://github.com/bharatm11/Geomagic_Touch_ROS_Drivers

1 安装依赖项： 

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 创建一个工作空间：

mkdir -p touch_ws/src
cd touch_ws/src
catkin_init_workspace

将下载/Geomagic_Touch_ROS_Drivers-hydro-devel下的所有文件拷贝到WSJ/touch_ws/src下，完成编译

catkin_make

确定没问题后，即可运行

roslaunch omni_common omni_state.launch

查看话题

rostopic echo /phantom/pose