[ros-users] Novint Falcon, HAPI and ROS

[cuenta altas]

2010/3/24 Brian Gerkey <gerkey at willowgarage.com>

> On Wed, Mar 24, 2010 at 9:50 AM, cuenta altas <miguel.register at gmail.com>
> 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.
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