Drivers for various Phidgets devices. This Catkin metapackage includes:
-
phidgets_api: a package which downloads and builds the Phidgets C API from phidgets.com (as an external project). It also implements a C++ wrapper for the C API, providing some base Phidget helper functions and various classes for different phidget devices. -
ROS nodelets exposing the functionality of specific phidgets devices:
Prior to ROS Noetic, this library was based on the older libphidget21 library. While it is still supported by Phidgets, they no longer add new features to it and VINT hub style devices cannot be used with it. In ROS Noetic, this library was rewritten to use the libphidget22 library, which is the latest supported and contains all of the newest features. However, the new libphidget22 library is very different from the old libphidget21 library, and some of those differences leak through to the drivers themselves. The following is a list of things that may help in migrating to the new drivers.
- All drivers now have nodelets.
- No drivers have nodes anymore. While this makes debugging somewhat harder, nodelets are the only way to support devices on a VINT hub.
- The "serial_number" parameter has been renamed to "serial".
- The "imu" node was renamed to the "spatial" node.
- Diagnostics have been removed from the spatial driver. They will be reinstated later.
- The "period" parameter has been renamed to "data_interval_ms".
- The default "frame_id" has been changed from "imu" to "imu_link" to comply with REP-0145.
- The "ik" node is now just a launch file which composes an Analog Input, Digital Input, and Digital Output nodelet together.
Make sure you have a working catkin workspace, as described at: http://www.ros.org/wiki/catkin/Tutorials/create_a_workspace
Also make sure you have git installed:
sudo apt-get install git-core
Change directory to the source folder of your catkin workspace.
If, for instance, your workspace is ~/catkin_ws, make sure there is
a src/ folder within it, then execute:
cd ~/catkin_ws/src
Download the metapackage from the github repository (<ros_distro> may be groovy, hydro, indigo...):
git clone -b <ros_distro> https://github.com/ros-drivers/phidgets_drivers.git
Install dependencies using rosdep:
rosdep install phidgets_drivers
Alternatively, if rosdep does not work, install the following packages:
sudo apt-get install libusb-1.0-0 libusb-1.0-0-dev
Compile your catkin workspace:
cd ~/catkin_ws
catkin_make
Note: The following steps are only required when installing the package
from source. When installing a binary debian package of phidgets_api >= 0.7.8,
the udev rules are set up automatically.
Make sure your catkin workspace has been successfully compiled. To set up the udev rules for the Phidgets USB devices, run the following commands:
roscd phidgets_api
sudo cp debian/udev /etc/udev/rules.d/99-phidgets.rules
sudo udevadm control --reload-rules
Afterwards, disconnect the USB cable and plug it in again (or run sudo udevadm trigger).
http://ros.org/wiki/phidgets_drivers
This repo has a pre-commit check that runs in CI. You can use this locally and set it up to run automatically before you commit something. To install, use pip:
pip3 install --user pre-commitTo run over all the files in the repo manually:
pre-commit run -aTo run pre-commit automatically before committing in the local repo, install the git hooks:
pre-commit install