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ROS Driver





Install things in this order to ensure everything works:

  1. Clone the Python Control Interface package to the src folder of your catkin workspace.
    • Go into the folder and switch to the devel-ros branch
       cd pressure_control_interface
       git checkout devel-ros
  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. Install rqt_multiplot (instructions selected from documentation)
     sudo apt-get install ros-melodic-rqt
     sudo apt-get install libqwt-dev
     sudo apt-get update
     sudo apt-get install ros-melodic-rqt-multiplot
  5. In the root folder of this package, run pip install -r requirements.txt to install python dependencies for this package and the “pressure_control_interface” package.
  6. In the root folder of your catkin workspace, run catkin_make to enable the custom python modules in this package to work.
  7. Add the teensy udev rules to enable communication with the pressure controller.
    1. Download the udev rule file. Be sure to save it as “00-teensy.rules
    2. Open a terminal in the Downloads folder and run sudo cp 00-teensy.rules /etc/udev/rules.d/ to copy the file to the correct location.
    3. Log out of Ubuntu and log back in.


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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