EXTARIA : EXtensible Teleoperation Architecture optimized for Robotic Industrial Applications

Dependencies

Tool	Version
Operating System	Debian 11.3 (64 bit) realtime
Touch Driver	v2022_04_04
OpenHaptics	v3.4.0
QT	5.11.3

Touch Setup

1. Get Touch Driver and OpenHaptics here and extract folders.

2. Install TouchDriver and OpenHaptics dependencies:

sudo apt install qt5-default build-essential libncurses5 libncurses5-dev freeglut3 freeglut3-dev zlib1g-dev

3. Install openhaptics

cd ~/Downloads/openhaptics_3.4-0-developer-edition-amd64
sudo ./install

4. Copy drivers

cd ~/Downloads/TouchDriver2022_04_04/
sudo cp usr/lib/libPhantomIOLib42.so /usr/lib
sudo cp bin/Touch* /usr/bin/

5. Connect the device and use ListUSBHapticDevices script to find out which port the haptic device has been assigned and then set permission for the com port. NOTE: this procedure must be done every time user disconnects and re-connects the device.

cd ~/Downloads/TouchDriver2022_04_04/
bash ListUSBHapticDevices
sudo chmod 777 /dev/ttyACM0 

6. (Optional) To access to COM port devices without having to CHMOD each time run:

sudo adduser YourUserName dialout

7. run Touch Setup and Touch Diagnostic.

echo 'export GTDD_HOME=~/.3dsystems' >> ~/.bashrc
source ~/.bashrc
Touch_Setup
Touch_Diagnostic

5. (Optional) Copy an example file

cd /opt/OpenHaptics/Developer/3.4-0/examples/HD/console/QueryDevice/
make
sudo cp QueryDevice /usr/bin/Touch_QueryDevice

Authors:

• Enrico Sgarbanti
• Diego Dall'Alba
• Fabrizio Boriero

Thanks to Nimbo and Altair for the collaboration.

---

License

This project is licensed under the GPL v3 License - see the LICENSE.md file for details.