This is a ROS package for Teleoperation capabilities using the 3D Systems Touch Haptic Device.
Dependency: jhu-saw/sawSensablePhantom
| Software | Version |
|---|---|
| Operating System | Ubuntu 18.04 / 20.04 |
| ROS Distro | Melodic / Noetic |
| 3DS Touch connection | USB |
| 3DS Touch Driver | Version 2019 / 2022 |
| Open Haptics | Version 3.4 |
This package is meant to be the hub for sending teleoperation commands to different systems.
The scripts in this package rely on messages from the follower robots, to compute and relay back messages to the same robot(s).
UVMS: For bimanual teleoperation of Underwater Vehicle Manipulator System (RexROV) - Paper Accepted for Publication
Franka Research 3: For teleoperation of Franka Research 3 (panda) mounted on a Husky UGV, for mobile-manipulation research activities
xArm7: For teleoperation of xArm7 robot for minimally invasive surgery research activities
More additions continue to be made to this package.
The following are publications by the ARMLAB that utilize this teleoperation package:
- Sitler, J., Sowrirajan, S., and Wang, L. (2024). "A Bimanual Teleoperation Framework for Light Duty Underwater Vehicle-Manipulator Systems." Accepted to 21st International Conference on Ubiquitous Robots (Preprint)