BioTac SP ROS stack

Biotac SP ROS

This repository is for hosting the Biotac SP sensors sofware released under the lgpl3.0 license.

 

Requirements

 

Documentation

• Biotac SP user manual

 

Hardware

• 3x Biotac SP sensors
• Biotac Board
• micro-USB power cable for connecting the Biotac board
• Cheetah SPI host
• USB-B cable.
• Host pc

 

Software

• Ubuntu Linux 18.04 LTS
• ROS Melodic installed and configured

 

Installation procedure:

 

Step 1: Connect the equipment

Figure 1 shows the configuration setup

https://raw.githubusercontent.com/CNCR-NTU/biotac_sp/master/doc/Biotac.png

Figure 1: Biotac setup

https://github.com/CNCR-NTU/biotac_sp/blob/master/doc/data_sampling.png

Step 2: Update the OS and install base packets

$ sudo apt update & sudo apt upgrade -y & sudo apt dist-upgrade -y & sudo apt autoremove -y & sudo apt autoclean -y
$ sudo apt install build-essential git terminator

 

Step 3: clone the repository

$ cd ~/catkin_ws/src
$ git clone https://github.com/CNCR-NTU/biotac_sp_ros.git

 

Step 4: install the drivers

$ cd biotac_sp_ros
$ ./installCheetahDriver.sh

 

Step 5: compile and install

$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.sh

 

Step 6: run

$ roslaunch biotac_sp_ros biotac.launch

 

Understanding the data

4x data frames are colected per second. Each frame is composed follows the recommended Default sampling sequence.

Table 1: Bandwidth and Sampling rate for Default Sampling Sequence at 4.4kHz

https://raw.githubusercontent.com/CNCR-NTU/biotac_sp/master/doc/data_sampling_bandwidth.png

Figure 3 shows the Biotac SP electrodes distribution

https://github.com/CNCR-NTU/biotac_sp/blob/master/doc/Electrodes_distribution.png

Figure 3 Biotac SP electrodes distribution

The output is a vector of 163 columns where:

[time, E1_s01, PAC_s01, E2_s01, PAC_s01,...,E24_s01, PAC_s01, PDC_s01, PAC_s01, PAC_s01, TAC_s01, PAC_s01, TDC_s01, PAC_s01, E1_s02, PAC_s02, E2_s02, PAC_s02,...,E24_s02, PAC_s02, PDC_s02, PAC_s02, PAC_s02, TAC_s02, PAC_s02, TDC_s02, PAC_s02, E1_s03, PAC_s03, E2_s03, PAC_s03,...,E24_s03, PAC_s03, PDC_s03, PAC_s03, PAC_s03, TAC_s03, PAC_s03, TDC_s03, PAC_s03]

where:

s01 - sensor 1

s02 - sensor 2

s03 - sensor 3

With exception of the time, each of the values is the average of the individual values of the 4x frames collected during 1 sec.

 

Contacts:

Computational Neurosciences and Cognitive Robotics Group at the Nottingham Trent University.

Pedro Machado pedro.baptistamachado@ntu.ac.uk

T.M. McGinnity martin.mcginnity@ntu.ac.uk

 

Git repository: https://github.com/CNCR-NTU/biotac_sp_ros