neemoh/sigma7

ROS node interfacing with force dimension sigma7 devices

Force Dimension Sigma ROS Node

This ros node interfaces with a Force Dimension Sigma master device.

Topics

The following topics under the name space /sigma/sigma<device_number>/ are published to:

• /pose type:PoseStamped - Cartesian pose of the end effector.
• /buttons type:Joy - Contains the states of two buttons of sigma. First is the gripper button emulation, and second is the foot pedal.
• /twist type:TwistStamped - Cartesian velocities of the end-effector

The following topic is subscribed to:

• /force_feedback type:WrenchStamped - Receives wrench information and when the foot pedal is pressed it sends the wrenches to the sigma device. Note that you can lock the orientation of the end-effector (useful in tele-operation) when the foot-pedal is released if you set the lock_orientation parameter as true.

Parameters

• frequency defines the node's refresh rate
• enable_gripper_button enable the emulated gripper button of sigma
• lock_orientation flag to lock the orientation of the end-effector when the foot pedal is released.
• wrench_topic String defining the topic name for the wrench message to which this node subscribes

sigma7's Issues

Error while loading shared libraries: libdrd.so.3: cannot open shared object file: No such file or directory

I put the libdhd.so and libdrd.so inside /usr/lib, and catkin_make succeeded. But when I want to launch the node, it popt out: "error while loading shared libraries: libdrd.so.3: cannot open shared object file: No such file or directory"
Where should I put the shared libraries?

Licence not described in README

The source files say that the full licence terms can be read in README.txt. This file was not found in the repository. Additionally, README.md does not define the licence. Please could the licence be updated?