Ros node does not recognize Haptic device

asked 2015-10-19 07:52:06 -0600

191 ●4 ●10 ●14

updated 2015-10-20 04:19:58 -0600

I am developing a ros node for reading Force Dimension Omega.x haptic device input. I downloaded the Force Dimension SDK, compiled the libraries and exported them in /usr/local/lib while copied the headers in /usr/local/include. Then I modified CMakeLists.txt and package.xml to link those files. My code is building correctly now, but I can't connect to my haptic device. Since with other non-ros packages (e.g. Chai3D) I had to specify "sudo" for running a bin and for connecting to the haptic device properly, my question is: How I can run a ros node and connect to my device? I am developing my code in QtCreator.

Looking forward for your help. Thanks

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answered 2015-10-20 04:20:13 -0600

mrslvgg

191 ●4 ●10 ●14

updated 2016-05-14 07:19:21 -0600

I finally find out how to access to usb without typing sudo. First of all, I create a new file in /etc/udev/rules.d named 10-mydevice.rules and added this line inside:

ATTRS{idProduct}=="[PRODUCT_ID]", ATTRS{idVendor}=="[VENDOR ID]", MODE="666", GROUP="plugdev"

where VENDOR_ID and PRODUCT_ID are specified by

lsusb -v

Then I simply checked if my user was part of plugdev group by typing

groups USERNAME

Finally I saved and closed my file and entered the following in the terminal window for refreshing the rules:

sudo udevadm trigger

Right now I can run my node by using rosrun without root privileges or run the node from inside QtCreator!!! Hope this could help other people!

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answered 2015-10-19 09:00:05 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

You most likely need to give your user access to the Linux device file that is used to communicate with the haptic device.

See Rosrun as super user and replace /dev/ttyUSB0 with the device file that is used by your haptic device driver.

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Sorry but this does not help me. I changed the owner of the bin file but it does not work with rosrun. In addition, I noticed that I don't have /dev/ttyUSB0.

mrslvgg ( 2015-10-19 10:20:51 -0600 )edit

Did you read the answer I linked to? Cause what you posted as an update to your question is exactly what those answers tell you to do.

gvdhoorn ( 2015-10-20 03:18:34 -0600 )edit

Yes, I went through your links, but it took a while for understanding udev rules stuff. Anyway, your answer helped a lot. Thanks!!

p.s. Sorry I am new to ros and linux and also to this forum. I edited my post but I cannot accept my answer.

mrslvgg ( 2015-10-20 04:24:58 -0600 )edit

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answered 2016-05-11 08:28:06 -0600

Francesco Chinello
1

updated 2016-05-12 04:49:00 -0600

gvdhoorn
86574 ●283 ●1432 ●1054 http://cor.tudelft.nl/

In particular, I added this line

ATTRS{idProduct}=="cb48", ATTRS{idVendor}=="0403", MODE="666", GROUP="plugdev"

Without the "0x" before the number, inverting also idVendor number to the idProduct and it worked.

Thanks.

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I edited my answer, thank you for the suggestion ;)

mrslvgg ( 2016-05-14 07:20:16 -0600 )edit

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