| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
Hello,
I'm trying to use a Phantom Omni device with ROS, but when I run the omni node terminal shows next message and nothing happens more, the prompt doesn't return and the cursor keeps flashing.
INFO 1374828811.829641606: Found PHANTOM Omni.
INFO 1374828811.881649887: HD_CALIBRATION_INKWELL..
INFO 1374828811.883714328: Calibrating.. (put stylus in well)
INFO 1374828811.883780678:
Calibration complete.
Regards
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 <a href="https://github.com/bgromov/sensable_phantom.git">https://github.com/bgromov/sensable_phantom.git</a>
# Update rospack cache
$ rospack profile
# Compile the package
$ rosmake sensable_phantom
P.S. Something wrong with AskBot. The link on the git clone line should be without surrounding HTML-tags.
When I try omni1_button and I press the buttons works good. But when I try omni1_pose and I move the phantom's omni stylus the coordenates don't change, always it is 0.0 header: seq: 122795 stamp: secs: 1375096548 nsecs: 228468035 frame_id: omni1_link6 pose: position: x: 0.0 y: 0.0 z: 0.0 orientation: x: 0.0 y: 0.0 z: 0.0 w: 1.0
Honestly I didn't use original `phantom_omni` for a long time, but my own [reimplemented version](https://github.com/bgromov/sensable_phantom). If you do not need specific features of original package you maybe interested to try that one. For Fuerte checkout `rosbuild` branch.
New problem, in version of bgromov sensable_phantom, when I raise the node and try to use button's topic shows with rostopic echo /button this error:
ERROR: Cannot load message class for [sensable_phantom/PhantomButtonEvent]. Are your messages built?
Asked: 2013-07-24 01:23:31 -0500
Seen: 1,367 times
Last updated: Aug 22 '13
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
Seems error message got lost. Please update the question.