This driver as a part of the bachelor project "Recreating Operator Paths Using an Electromagnetic Motion Tracker and a Robot Manipulator" by Gabriel Gosden for Technological Insitute, DMRI.
This ROS driver is custom built for the Polhemus Viper electromagnetic motion tracker. It it made using the Libusb 1.0 API.
This driver built of four nodes to recreate the movement of the Viper sensor. These are:
- viper_broadcaster - Contains the driver for the Polhemus Viper electromagnetic motion tracker.
- outlier_detection - Outlier detection and downsampling.
- kalman_filter - Kalman filtering.
- path_generation - Path generation for the UR10e using servoj and safety.
This ROS driver depends on the UR devopled ROS driver: https://github.com/UniversalRobots/Universal_Robots_ROS_Driver but can with minor modification to the launch file be used independently.
To allow the Viper driver to run as non-root it is needed to modify the .rules file. This is done by using:
$ cd ./etc
$ ./install_rules.bash
Note that you will require the sudo password.
Change Viper settings in the config/viper_settings.yaml file. The following settings are implemented to be changed using the launch file.
- Hemisphere
- FTT mode
- Position units
- Orientation units
- Sensor filter level
The rest of the Viper settings are default.