cham8195 / phantom_omni

ROS Node for Sensable Phantom Omni devices

phantom_omni

ROS Node for Sensable Phantom Omni devices

Requires the omni_description package.

Parameters:

• ~omni_name (default: omni1)

Publishes:

• OMNI_NAME_joint_states (sensor_msgs/JointState): The state of each of the omni's joints.
• OMNI_NAME_button (phantom_omni/PhantomButtonEvent): Events for the grey and white buttons.

Subscribes:

• OMNI_NAME_force_feedback (phantom_omni/OmniFeedback): Force feedback to be displayed on the omni. Takes a force and a position. If you simultaneously click the grey and white buttons, the omni will 'lock' to the position.

This is based on the original phantom_omni package. However, it has several advantages:

• Catkinized build system
• Compatibility with ROS Groovy
• Uses URDF description of Omni and the robot_state_publisher instead of hardcoded transforms.
• Improved auto-calibration
• Streamlined code / organization / bug fixes.
• Defaults to gravity compensation mode (instead of locking to the 'zero' position).

To see it in action, simply: roslaunch phantom_omni omni.launch