Geomagic Touch Installation - gkgkgk1215/else GitHub Wiki

Linux Version

  • Tested for Ubuntu 20.04, 18.04.

Download Drivers

Install Touch Device Driver (USB-COMPort-Version)

  • Installation Guide
  • Faster way: Extract the downloaded files and move the two folders("openhaptics" and "TouchDriver") to the home folder
sudo cp ~/TouchDriver2022_04_04/bin/* /usr/bin/
sudo cp ~/TouchDriver2022_04_04/usr/lib/* /usr/lib
  • Install QT and create a directory to configure:
sudo apt-get update
sudo apt-get install qt5-default
sudo mkdir /usr/share/3DSystems/config -p
  • Add the following line to the end of ".bash":
export GTDD_HOME=/usr/share/3DSystems
  • Check the environmental variable:
source ~/.bashrc && echo $GTDD_HOME
  • Logout and login again for the environmental variable to take effect use the command:
gnome-session-quit
  • Set permission so the folder is accessible to all users.
sudo chmod -R 777 /usr/share/3DSystems/
  • Connect the Haptic Device. Use this script to find out which port has been assigned to the device:
bash ~/TouchDriver2022_04_04/ListUSBHapticDevices
  • Set permission to the port
sudo chmod 777 /dev/ttyACM0 (ACM1, ACM2, ACM3, etc)
  • You may find it easier to add yourself to the “dialout” permissions group, which, on most systems, should give you access to com port devices without having to CHMOD each time.
sudo adduser surglab dialout

or

sudo gedit /etc/udev/rule.d/99-gtd.rules

and add the following lines:

KERNEL=="ttyACM[0-9]*", ACTION=="add", ATTRS{idVendor}=="2988", ATTRS{idProduct}=="0302", MODE="777"

Reboot the system.

(Just for reference, the following commands are needed when applying udev rules:

udevadm info -a -n /dev/ttyACM1
sudo udevadm control --reload-rules && sudo service udev restart && sudo udevadm trigger
  • Configure Touch Devices
/usr/bin/Touch_Setup
  • Calibrate Touch Devices
/usr/bin/Touch_Diagnostic
  • Disclaimer: Every time user disconnects and re connects the USB device or the system to which the device is connected goes into hibernation or sleep mode, the user needs to set read/write/execute (Chmod 777) permissions to the COM port.

Install Touch Device Driver (USB-HID-Version)

  • Faster way: Extract the downloaded files and move the two folders("openhaptics" and "TouchDriver") to the home folder
cd TouchDriver_2023_01_12/
./install_haptic_driver

Reboot the computer and the Touch device will be ready to use.

  • Install QT:
sudo apt-get update
sudo apt-get install qt5-default
  • Configure devices
./TouchDriver_2023_01_12/bin/Touch_AdvancedConfig

If configuration fails, try to configure the device one by one.

It seems the HID devices save the configuration within the device, so no need to reconfigure the device every time the OS is reinstalled.

Also, no need to authorize the device by "chmod ..." for every boot.

Install Openhaptics

  • Simply, run install script
sudo ~/openhaptics_3.4-0-developer-edition-amd64/install
  • Reboot the computer before running the device

Install ncurses library (graphics library)

This is required to run geomagic touch rospackage.

sudo apt-get update
sudo apt-get install libncurses5-dev libncursesw5-dev
  • ROS wrapper for Geomagic Touch
sudo apt-get install libncurses5-dev

cd ~/catkin_ws/src
git clone https://github.com/gkgkgk1215/omni.git
cd ..
catkin_make
...
  • If libncurses.so.5 error occurs,
find /usr/lib/ -name *ncurses*
sudo ln -s /usr/lib/x86_64-linux-gnu/libncursesw.so.6.2 /usr/lib/libncurses.so.5
sudo ln -s /usr/lib/x86_64-linux-gnu/libncursesw.so.6.2 /usr/lib/libtinfo.so.5