Kuka LWR teleoperation with phantom omni

asked 2012-08-21 02:00:28 -0600

updated 2014-01-28 17:13:24 -0600

ngrennan
1 ●1 ●1

Anyone used Phantom Omni on Kuka LWR Robot or on another industrial Robot? I need information for teleoperate a Kuka LWR robot with Phantom Omni haptic. I use ROS Fuerte and sometimes ROS Electric, also used the arm navigation service and inverse kinematics. The problem is that the arm moves in excess and the orientation of joints is not correct. How should associate the tf of Phantom Omni and the tf of Robot? Thanks.

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answered 2012-12-18 02:20:02 -0600

isura

403 ●5 ●11 ●15

updated 2013-01-14 04:22:23 -0600

To answer your last question, have you gone through the tf tutorials?

www.ros.org/wiki/tf/Tutorials

Also, this related question might be helpful:

answers.ros.org/question/9094/has-anyone-used-any-haptic-devices-in-conjunction-with-ros/

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answered 2015-09-17 04:34:55 -0600

freelist
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Did you solve your problem? I need to do the same teleoperation but I'm having a lot of problems making the device working with the new OpenHaptics on linux..

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Could you specify what your problem is? I remember that I had troubles with the firewire port (1394) on Ubuntu. It only worked with the Ubuntu 10.04 version.

Jose Luis ( 2015-10-08 05:33:45 -0600 )edit

Hi, I am also working on controlling LWR with geomagic touch ... Can you please specify the steps I need to follow. I have uptil now a working URDF model of lwa with ros_control. How should I proceed now? I used omni code available from git that maps a 3d nodel in rviz but I am stuck for now ...

ZainMehdi ( 2016-10-06 15:38:34 -0600 )edit

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Kuka LWR teleoperation with phantom omni

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