Bolt Haptics : Software - Installing Bio Tacs browse

Install BioTacs in ROS

Hardware requirements

  1. BioTacs
  2. Cheetah USB2SPI adapter
  3. Linux 64-bit computer running ROS -

Where to get the code!

Penn Haptics team's repository for BOLT related work is hosted on github and can be found here:

Cheetah USB Driver

In order to use the BioTacs, there is a driver that needs to be installed for the Cheetah. The Cheetah is a USB to SPI interface that talks directly to the BioTacs. More details about the specific hardware can be found here:

Follow these series of commands to install the Cheetah driver onto your linux system.

  1. wget
  2. unzip
  3. sudo cp tp-usb-drivers-v2.10/linux/99-totalphase.rules /etc/udev/rules.d/

Electrical Connections

These instructions are for only using the BioTacs directly to any computer with the software

  1. Plug the biotac sensors into the Multi-BioTac Board (MBTB)
  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

ROS Specific Setup

This assumes that you already have ROS installed correctly on your system.

For this step it is assumed that you have checked out the git repo under the /home/user/ directory as Penn-bolt-haptics

  1. In your .bashrc.ros make the following change to your ROS_PACKAGE_PATH: ROS_PACKAGE_PATH=/home/user/Penn-bolt-haptics/ros/haptics/biotac_stack:$ROS_PACKAGE_PATH
  2. Then make the biotac_stack: rosmake biotac_stack

Running Software

  1. Once the whole stack has been made in ROS, to start pulling data from the sensors run the command: rosrun biotac_sensors biotac_pub
    This will start pulling form the sensors and publishing to the topic biotac_pub at 100Hz
  2. To check to make sure your sensors are working run the command: rostopic echo biotac_pub

Recording data

  1. To begin logging data in JSON form run the command: rosrun biotac_logger _filename:=trial_001.json
    * This command will store data into the file trial_001.json
  2. NOTE: DOES NOT WORK RIGHT NOW: Alternatively, a rosbag file can be created that directly stores all of the information with the command: rosbag record -O trial_001.bag /biotac_pub
    To convert the bag file into something that can be read by other data sources, run the command: rosrun biotac_log_parser -i <bag file> -o <output_file>

Visualizing the data

We have created a Matlab GUI that can read in JSON files and H5 files to display the BioTac information. Please see the Penn Bolt Wiki for instructions on how to use the GUI

Extracting Audio-- rosrun extract_bag_audio /audio