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ROS Driver


Dependencies

Hardware

Software

Installation

  1. Clone the Python Control Interface package to the src folder of your catkin workspace.
  2. Clone this package to the src folder of your catkin workspace.
  3. Install cython-hid dependencies (as specified in the Cython HID Library)
     sudo apt-get install python-dev libusb-1.0-0-dev libudev-dev
     sudo pip install --upgrade setuptools
    
  4. In the root folder of this package, run pip install -r requirements.txt to install python dependencies.
  5. In the root folder of your catkin workspace, run catkin_make to enable the custom python modules in this package to work.

Usage

This driver is split into two ROS packages:

  • pressure_trajectory_ros is where trajectories are set up, built, and stored for execution
  • pressure_control_ros is the main driver that actually interfaces with the pressure control hardware

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