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takktile-ros

ros drivers for the TakkTile tactile array

1.) Install TakkTile TakkFast USB drivers (see https://github.com/TakkTile/TakkTile-usb)

This will install TakkTile.py which is a dependency (currently included as a symlink -- need to fix this)

  1. Get code

git clone --recursive https://github.com/harvardbiorobotics/takktile_ros.git

  1. Add the package path to the ROS_PACKAGE_PATH

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/path/to/this/directory

or add it to the bashrc

echo "ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/path/to/this/directory" >> ~/.bashrc

source ~/.bashrc

  1. Compile

rosmake takktile_ros

  1. set USB permissions

sudo cp 71-takktile.rules /etc/udev/rules.d/

  1. Run

rosrun takktile_ros takktile_node.py

  1. Plot (in another terminal while takktile_node.py is running)

ROS Fuerte and earlier releases:

rxplot /takktile/calibrated/pressure[0]:pressure[1]:pressure[2]:pressure[3]:pressure[4]

ROS Fuerte and later releases:

rqt_plot /takktile/calibrated/pressure[0]:pressure[1]:pressure[2]:pressure[3]:pressure[4]