imclab / penn-haptics-bolt

Penn Haptics team's repository for BOLT related work

Penn-haptics-bolt

Penn Haptics team's repository for BOLT related work

--Notes for getting started--

--Cheetah USB Driver--

• download tp-usb-drivers-v2.10.zip from http://www.totalphase.com/products/cheetah_spi/
• unzip tp-usb-drivers-v2.10.zip
• sudo cp tp-usb-drivers-v2.10/linux/99-totalphase.rules /etc/udev/rules.d/

--Electrical Connections-- (Try for this order, but it doesn't really matter)

• Plug the biotac sensors into the Multi-BioTac board
• Plug the +5V nano-USB cable into the MBTB and your computer's USB
• Plug the Cheetah's 10 pin ribbon cable into the MBTB
• Plug the Cheetah's USB into your computer's USB port

--Software Setup--

• In your .bashrc.ros: ROS_PACKAGE_PATH=~/your/path/to/biotac_stack:$ROS_PACKAGE_PATH

rosmake biotac_stack

--Running Software-- rosrun biotac_sensors biotac_pub

Check to make sure your sensors are working: rostopic echo biotac_pub

Then to log some data in JSON form: rosrun biotac_logger biotac_json_logger.py _filename:=trial_001.json

--Matlab GUI-- Please see the Penn Bolt Wiki for instructions on how to use the GUI

http://bolt-haptics.seas.upenn.edu/index.php/Software/MatlabGUI

--Extracting Audio-- rosrun extract_bag_audio audio_to_mp3.py <full_bagfile_path> /audio <full_mp3_file_path>