Polaris Hybrid Position Sensor driver

This package contains a ROS-independant library to get information from the Polaris (based on https://github.com/wjwwood/serial) and a simple ROS wrapper (using catkin) to send a geometry_msgs::PoseArray (visualizable on rviz).

Build status

Usage

Two parameters are needed, the .rom files and the port to which the sensor is connected :

rosrun polaris_sensor polaris_sensor_node _roms:=/home/T0.rom _port:=/dev/ttyUSB0

If you have multiple rom files :

rosrun polaris_sensor polaris_sensor_node _roms:="$(rospack find polaris_sensor)/rom/kuka.rom,$(rospack find polaris_sensor)/rom/T0.rom" _port:=/dev/ttyUSB0

If you want to get the two rom relative transformation:

rosrun polaris_sensor polaris_sensor_double_node _roms:="$(rospack find polaris_sensor)/rom/8700339.rom,"$(rospack find polaris_sensor)/rom/8700449.rom _port:=/dev/ttyUSB0 

The first the rom is the target corrdinate and the second rom is the base corrdinate, then you can subscribe the topic /polaris_sensor/targets_in_base to get the transformation

For convenience you can also use the launch file (default single rom tracking, you can set your rom file in this launch)

roslaunch polaris_sensor ndi_polaris_driver.launch

Attention 1: If you meet the error like "undefined reference to serial::......", when you use catkin_make command in you workspace. you need to add this command to the src/polaris_sensor/CMakeLists.txt file. (after install the serial package from https://github.com/wjwwood/serial)

target_link_libraries(${PROJECT_NAME}
   ${catkin_LIBRARIES} ${Boost_LIBRARIES}
 )

Attention 2: If you cannot get the permission of the usb port, you need to add the the rules file, you can follow this command: To find out the idVendeor and idProduct number:

lsusb

you can get the information like that:

Bus 003 Device 006: ID 1a86:7523 QinMing Electronics HL-340 USB Serial adapter

Then you need to add the rules file to /etc/udev/rules.d which file name you need to named "70-ttyusb.rules" And you need to add this to this file:

SUBSYSTEM=="tty", ATTRS{idVendor}=="1a86", ATTRS{idProduct}=="7523",MODE="0666"

Then reinsert the ndi device

Note: The rate is 60Hz.

Authors : Antoine Hoarau, Florian Richer