Overview

This stack contains drivers and an API for phidget devices. It contains the following packages:

• libphidget21: downloads, builds and installs the official Phidgets C API

• phidgets_api: a C++ API built on top of libphidget21. All Phidgets inherit from a single Phidget base class.

• phidgets_high_speed_encoder: A ROS node for Phidgets high-speed encoder decoder.

• phidgets_ik: A ROS node for the Phidgets Interface Kit, built on top of the C++ API.

• phidgets_imu: A ROS node for the Phidgets Spatial 3/3/3 IMU, built on top of the C++ API.

Please see the phidgets_api documentation for an example on how to implement new types of Phidgets.

Installing

From binaries

For installing from binaries, simply use apt-get, for example:

   1 sudo apt-get install ros-kinetic-phidgets-imu

From source

For installing from source, it is best to follow the instructions in the README.md file in the github repository.

Rules setup

To set up your udev rules for the phidgets USB devices, run this script:

   1 cd ~/catkin_ws
   2 sh src/phidgets_drivers/phidgets_api/share/setup-udev.sh

You will be prompted for a sudo password.