TakkTile ROS

This tutorial will help setting up the takktile_ros package for ROS (Robot Operating System).
ROS homepage

Installation

This tutorial assumes that ROS is installed on an Ubuntu machine.
We tried it on 12.04, but should work on other versions as well.
The source code is hosted on GitHub: https://github.com/harvardbiorobotics/takktile_ros

1) Install TakkFast USB drivers

TakkFast USB (see http://www.takktile.com/tutorial:takkfast)

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

2) Get the code
Open a new terminal (Alt+t)

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

3) Add the package path to the ROS_PACKAGE_PATH

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:/home

Or add it to the bash

echo "ROS_PACKAGE_PATH=\$ROS_PACKAGE_PATH:/home" >> ~/.bashrc
source ~/.bashrc

4) Compile

cd takktile_ros
rosmake

5) set USB permissions

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

Viewing Topics

0) Make sure that Roscore runs in a different terminal

roscore

1) Run

rosrun takktile_ros takktile_node.py

2) Check how many sensors and which are connected

rostopic echo /takktile/sensor_info

3) Show raw values

rostopic echo /takktile/raw

4) To zero thermal drift

rosservice call /takktile/zero

This will set the zero point for the 'calibrated' topic (the scale may vary between sensors)
rostopic echo /takktile/calibrated

5) Save the values into a bag

rosbag record -O takktile_check.bag -a

6) Plot the data
Use the rxtools package to plot the data
First, install the rx package, where the <distro> is the name of the distribution (e.g. groovy)

sudo apt-get install ros-<distro>-rx

Then type:
rqt_plot /takktile/raw/pressure[1]:pressure[2]:pressure[3]

Questions ?

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