An example ros package using the Phantom Omni with trep. The following are instructions on installing the Phantom Omni on Ubuntu.
These instructions were tested on Ubuntu 14.04 using a firewire card with the VT6315 controller.
- OpenHapticsAE_Linux_v3_0
- Linux_JUJU_PPD
Extract OpenHapticsAE_Linux_v3.0 to a local folder Goto the OpenHaptics_Linux_v3_0/PHANTOM Device Drivers/64-bit folder. Run:
sudo dpkg -i phantomdevicedrivers_4.3-3_amd64.deb
Extract Linux_JUJU_PPD to a local folder Copy libPHANToMIO.so.4.3 in to /usr/lib. Create symbolic links:
sudo ln -s /usr/lib/libPHANToMIO.so.4.3 /usr/lib/libPHANToMIO.so
sudo ln -s /usr/lib/libPHANToMIO.so.4.3 /usr/lib/libPHANToMIO.so.4
Copy the PhantomTest program from the JUJU PPD:
sudo cp PHANToMConfiguration /usr/sbin/
Install the following dependencies.
sudo apt-get install freeglut3-dev libmotif4 libglw1-mesa x11proto-dri2-dev libdrm2 libncurses5-dev
Create a driver symlink. In the /usr/lib/x86_64-linux-gnu directory:
sudo ln -s /usr/lib/x86_64-linux-gnu/libraw1394.so.11 /usr/lib/x86_64-linux-gnu/libraw1394.so.8
Create a udev rule for the Phantom Omni
sudo touch /lib/udev/rules.d/50-phantom-firewire.rules
Add the following line to 50-phantom-firewire.rules
SUBSYSTEM=="firewire", ATTR{vendor}=="0x000b99", MODE="0660", GROUP="plugdev"
If the Phantom Omni is currently plugged in, restart driver with
sudo modprobe -r firewire_ohci
sudo modprobe firewire_ohci
At this point, test the Phantom Omni by running the configuration app
PHANToMConfiguration
The Phantom Model field must be set to Omni, then click OK. Next, run the Phantom Test app
PHANToMTest
Go through the calibration test and make sure that the values are changing. If everything is working, continue to install the OpenHaptics Toolkit by going to the OpenHaptics_Linux_v3_0/OpenHaptics-AE 3.0/64-bit folder and running
sudo dpkg -i openhaptics-ae_3.0-2_amd64.deb
After installation, remove duplicate shared libraries from /usr/lib64
sudo rm /usr/lib64/libPHANToMIO.so /usr/lib64/libPHANToMIO.so.4 /usr/lib64/libPHANToMIO.so.4.3
Create a configuration file in /etc/ld.so.conf.d
sudo touch /etc/ld.so.conf.d/openhaptics.conf
Add the following line to openhaptics.conf
/usr/lib64
Rerun ldconfig to find the new shared libraries
sudo ldconfig
The OpenHaptics Toolkit and Phantom Omni driver should now be installed! The ROS phantom_omni and omni_description packages can be used to interface ROS with the Omni hardware.