2010/3/24 Brian Gerkey > On Wed, Mar 24, 2010 at 9:50 AM, cuenta altas > wrote: > > I'm trying to use HAPI to create a node that manages a Novint Falcon > haptic > > device. > > The problem is that haptic rendering doesn't work at all when I manage > the > > device from a ROS node, while almost the same code (without all the ROS > > stuff) works fine from a standalone process. > > I know that HAPI internally spawns a separate thread to manage the device > at > > high frequencies (~1 kHz). I also know that the way it does it is through > > another library (distributed with HAPI) named H3DUtil, which in turn uses > > pthreads. I suspect there must be some kind of interference between the > > thread that manages the haptic device and ROS, but I'm not comfortable > > enough with any of them (HAPI or ROS) to be able to speculate any > further. > > Has anyone had any experience with this library before and experienced > > similar problems? And if nobody has, does somebody have any suggestion on > > which way should I go to try to fix this? > > hi Miguel, > > I'm not familiar with that library, but I'd surprised if the threads > were interfering with each other. It's more likely that when you're > using ROS, you're not calling HAPI's event loop. Can you post the > code that works and the code that doesn't? > Hi Brian, These are the two files. Both compile and run okay, but with one I can feel the plane restrictions I send to the device and with the other one I can't. I'll keep trying to figure out what's wrong. Best, Miguel.