(1)下载OpenHaptic的环境配置文件openhaptics_3.4-0-developer-edition-amd64.tar.gz,右键解压;
进入解压后的文件夹,运行install程序安装:
sudo ./install
(2)下载Touch的驱动文件TouchDriver2023_01_12.tgz,右键解压
1. 将TouchDriver_2023_01_12/TouchDriver_2023_01_12/bin文件夹下的可文件复制到/usr/bin路径下;
sudo cp /home/niu/下载/TouchDriver2023_01_12/TouchDriver_2023_01_12/bin/. /usr/bin
2. 将TouchDriver_2023_01_12/TouchDriver_2023_01_12/usr/lib文件夹下的LibPhantomIOLib42.so复制到/usr/lib路径下;
sudo cp /home/niu/下载/TouchDriver2023_01_12/TouchDriver_2023_01_12/usr/lib/. /usr/bin
(3)安装haptic_driver ~/下载/TouchDriver2023_01_12/TouchDriver_2023_01_12$ 文件夹下面
./install_haptic_driver
(4)安装qt
sudo apt-get install qt5-default
(5)创建3DS目录来配置和保存设置Touch和Touch X设备所需的配置文件
sudo mkdir /usr/share/3DSystems
将环境变量GTDD_HOME设置为上面创建的配置文件目录的映射路径,并添加到/etc/environment中,使其成为永久性的:
sudo -H gedit /etc/environment
在打开的文件中添加:GTDD_HOME="/usr/share/3DSystems";
环境变量的生效需要先注销再重新登入ubuntu系统:
echo $GTDD_HOME
gnome-session-quit
在/usr/share/3DSystems中创建名为 config 的文件夹
sudo mkdir /usr/share/3DSystems/config
(6)配置:~/下载/TouchDriver2023_01_12/TouchDriver_2023_01_12/bin$文件夹下面
./Touch_AdvancedConfig
Rename..Reset All To Defaults
./Touch_Diagnostic
(7)配置ROS包
https://github.com/bharatm11/Geomagic_Touch_ROS_Drivers.git
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 如果不通过换源https://blog.csdn.net/m0_45805756/article/details/126310136
(8)创建一个工作空间:
mkdir -p touch_ws/src
cd touch_ws/src
(9)将下载/Geomagic_Touch_ROS_Drivers-hydro-devel下的所有文件拷贝到touch_ws/src下,完成编译
catkin_make
最后的使用方法!!!!!!!!!!!
~/下载/TouchDriver2023_01_12/TouchDriver_2023_01_12/bin$文件夹下面
./Touch_AdvancedConfig
Rename..Reset All To Defaults
./Touch_Diagnostic
~/touch_ws$ source ./devel/setup.bash
roslaunch omni_common omni_state.launch