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That is correct behavior. The messages are showing that device was found and successfully calibrated.

To read coordinates and buttons states you have to subscribe to omni1_pose and omni1_button topics respectively. To command force to Omni use omni1_force_feedback topic.

If you are not sure how to do aforementioned, please go through beginner tutorials.

For a quick test you also may want to try:

$ rostopic echo omni1_pose

This will output current pose (position + orientation) of Omni end-effector to the terminal.

That is correct behavior. The messages are showing that device was found and successfully calibrated.

To read coordinates and buttons states you have to subscribe to omni1_pose and omni1_button topics respectively. To command force to Omni use omni1_force_feedback topic.

If you are not sure how to do aforementioned, please go through beginner tutorials.

For a quick test you also may want to try:

$ rostopic echo omni1_pose

This will output current pose (position + orientation) of Omni end-effector to the terminal.

# Go to sandbox directory in the rosbuild workspace
$ roscd && cd sandbox

# Clone `rosbuild' branch of package
$ git clone -b rosbuild https://github.com/bgromov/sensable_phantom.git

# Update rospack cache
$ rospack profile

# Compile the package
$ rosmake sensable_phantom

That is correct behavior. The messages are showing that device was found and successfully calibrated.

To read coordinates and buttons states you have to subscribe to omni1_pose and omni1_button topics respectively. To command force to Omni use omni1_force_feedback topic.

If you are not sure how to do aforementioned, please go through beginner tutorials.

For a quick test you also may want to try:

$ rostopic echo omni1_pose

This will output current pose (position + orientation) of Omni end-effector to the terminal.

EDIT: (summarizing comments below)

On Ubuntu 12.04 and higher a JUJU Phantom Device Drivers (PDD) have to be used. The necessary files can be found on SensAble Developer Support Center.

Since original phantom_omni package seems to be broken a more generic sensable_phantom can be used instead, both on Fuerte and Groovy. The package suppose to work with any Phantom models (Omni, Premium 1.5, Premium 3.0 etc).

To install the latter on Fuerte:

# Go to sandbox directory in the rosbuild workspace
$ roscd && cd sandbox

# Clone `rosbuild' branch of package
$ git clone -b rosbuild https://github.com/bgromov/sensable_phantom.git

# Update rospack cache
$ rospack profile

# Compile the package
$ rosmake sensable_phantom