Phantom Touch Control

Collection packages to interface with the Phantom Touch devices from 3D systems. This package has been tested with the Phantom Touch HID.

Packages overview

.
├── phantom_touch_ros2
|   ├── phantom_touch_control    # main ros2 interfaces with the main node for publishing state and controling the haptic device
|   ├── phantom_touch_description          # contains the Phantom Touch URDF description 
|   ├── phantom_touch_msgs          # contains the device message definitions

Launching the system

Testing if devices can be found

You can run the LIST using the basic Touch setup tool to check if the devices are being detected.

Touch_HeadlessSetup LIST

If successfull, this should list the connected device's serial number.

Single device

A single device setup can be spawned using the single device launch:

ros2 launch phantom_touch_control single_device.launch.py

Two device

A for running two devices at the same time you can launch the system as:

ros2 launch phantom_touch_control two_devices.launch.py

Dual device - Multi-process

A for running two devices at the same time each managed by a different process node you can launch the system as:

ros2 launch phantom_touch_control dual_device.launch.py