## repository: git://github.com/kth-ros-pkg/biotac_driver
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== Overview ==
This metapackage contains low level drivers and ROS nodes for the [[BioTac]] from UPenn's `biotac_stack` contained in the [[https://github.com/IanTheEngineer/Penn-haptics-bolt.git|Penn-haptics-bolt repository]].

The following instructions are from the README.md file in the '''Penn-haptics-bolt''' respository. For more details also look at the [[http://bolt-haptics.seas.upenn.edu/index.php/Main/HomePage|UPenn Haptics group's wiki page]].

== SynTouch software ==

SynTouch also offers software for the Biotacs including low level libraries and GUIs:

[[http://www.syntouchllc.com/Products/Software/|Syntouch software website]]

== Installation ==
=== Cheetah USB dev rules ===
In order to be able to read the Biotac data via the Cheetah SPI-USB board you first have to copy the udev rules

1. Download the Cheetah SPI board drivers tp-usb-drivers-v2.10.zip from http://www.totalphase.com/products/cheetah_spi/

2. Unzip the folder

{{{
    unzip tp-usb-drivers-v2.10.zip
}}}
3. Copy the udev rules

{{{
    sudo cp tp-usb-drivers-v2.10/linux/99-totalphase.rules /etc/udev/rules.d/
}}}
=== ROS package installation ===
After copying the Cheetah udev rules you can download and compile the ROS package. Also make sure you have a working catkin workspace (look at the ROS tutorials).

Download the package to the catkin workspace:

{{{
    cd ~/catkin_ws/src/
    git clone -b <ros_distro> https://github.com/kth-ros-pkg/biotac_driver.git
}}}
Where `<ros-distro>` can be the **groovy** or **hydro** branch.

Otherwise you can use ROS's **wstool**:

{{{
    cd ~/catkin_ws/src/
    wstool init
    wstool set biotac_driver --git https://github.com/kth-ros-pkg/biotac_driver.git -v <ros_distro>
    wstool update biotac_driver
}}}
Then compile the workspace:

{{{
    cd ~/catkin_ws && catkin_make
}}}
== Electrical connections ==
(Try for this order, but it doesn't really matter) 1. Plug the biotac sensors into the Multi-BioTac board

2. Plug the +5V nano-USB cable into the MBTB and your computer's USB

3. Plug the Cheetah's 10 pin ribbon cable into the MBTB

4. Plug the Cheetah's USB into your computer's USB port

== Running ROS nodes ==
1. To start reading the sensors

{{{
    rosrun biotac_sensors biotac_pub
}}}
2. Check to make sure your sensors are working:

{{{
    rostopic echo biotac_pub
}}}
3. Then to log some data in JSON form:

{{{
    rosrun biotac_logger biotac_json_logger.py _filename:=trial_001.json
}}}
== Bug Reports & Feature Requests ==
We appreciate the time and effort spent submitting bug reports and feature requests.

Please submit your tickets through [[https://github.com/kth-ros-pkg/biotac_driver/issues/|github]] (requires github account) or by emailing the maintainers.

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