[ros-users] ccny-ros-pkg release: phidgets_drivers

Doug Sievers dwsievers at gmail.com
Sun Sep 9 21:27:15 UTC 2012

To all Phidget users,

I guess what I'm ultimately getting at, is that it appears there are
several people using phidgets now. When I do a wiki search, I see there are
several packages (this includes the CCNY and other two I listed before).


So I see C, C++, and Python wrappers dispersed throughout several packages,
each which support different devices. I think it would be great for us to
avoid duplicating efforts and make one monolithich phidgets stack, that is
supported by the ROS/Phidgets community.

Myself, having used only one package (https://launchpad.net/phidgets-ros-pkg)
working with a friend's hardware, was pretty impressed at the phidgets
hardware, but the code took a little work due to less than optimal
documentation. Once we figured out the inner workings, it worked
beautifully -- an encoder board and motor control board with PID was
already written and just needed some minor tweaks. I'm hoping to push those
edits and knowledge back upstream.

I'm rather new to ROS, but wondering if others feel the same way. Is it
time for a Phidgets SIG?


On Sun, Sep 9, 2012 at 12:39 PM, Doug Sievers <dwsievers at gmail.com> wrote:

> Hi Ivan,
> I've done some work with phidgets in ROS. Can you comment on differences
> between your package and existing ones?
> 1) By Bob Mottram, rather extensive :
> https://launchpad.net/phidgets-ros-pkg
> 2) By Tully Foote, only RFID? : http://ros.org/wiki/phidgets
> Thanks,
> Doug
>> ----------------------------------------------------------------------
>> Message: 1
>> Date: Sat, 08 Sep 2012 23:10:42 -0400
>> From: Ivan Dryanovski <ivan.dryanovski at gmail.com>
>> To: User discussions <ros-users at code.ros.org>
>> Subject: [ros-users] ccny-ros-pkg release: phidgets_drivers
>> Message-ID: <504C08B2.8020706 at gmail.com>
>> Content-Type: text/plain; charset=ISO-8859-1; format=flowed
>> Hi everyone,
>> We have put together a small stack with drivers for Phidgets devices:
>> http://www.ros.org/wiki/phidgets_drivers
>> The stack contains a package that downloads and installs the official
>> Phidgets C API, as well as a C++ API which we've written on top of it.
>> The C++ API provides a single Phidget class which specific devices can
>> inherit from. We have currently implemented two Phidgets: the
>> PhidgetSpatial 3/3/3 IMU and the Phidget IR, as well as ROS nodes for
>> both of them.
>> Extending the stack with more Phidget device classes should be fairly
>> easy using the API.
>> More info is available at the wiki pages. As always, we welcome any
>> feedback and suggestions.
>> Cheers,
>> Ivan
>> --
>> Ivan Dryanovski
>> Research Assistant, CCNY Robotics Lab
>> City University of New York (CUNY)
>> http://robotics.ccny.cuny.edu/People/Dryanovski
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