WTS-FT ROS package

WTS-FT

This repository is for hosting the WTS-FT sensors sofware released under the lgpl3.0 license.

Documentation

• WTS-FT Command Set Reference Manual
• WTS-FT Product Data Sheet

Hardware

• 3x WTS-FT sensors
• micro-USB power cable for connecting the rpi
• RPI 3 model B
• Host pc

Software

• Ubuntu Linux 18.04 LTS (x86_64 and ARM 64 on the the rpi)
• ROS Melodic installed and configured

Installation procedure:

Step 1: Connect the equipment

Figure 1 shows the configuration setup

https://github.com/CNCR-NTU/wts_ft/blob/master/Documentation/wts-ft.png

Figure 1: WTS-FT setup

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/wts_ft.git

Step 4: compile and install

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

Step 5: run the launch files

publisher on the RPI

$ roslaunch wts_ft_publisher.launch

visualisation on the host pc

$ roslaunch visualise_wts_ft.launch

Contacts:

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

• Pedro Machado pedro.baptistamachado@ntu.ac.uk

• Martin McGinnity martin.mcginnity@ntu.ac.uk

Git repository:

https://github.com/CNCR-NTU/wts_ft