Haptic Device Interfaces ROS2 Package

This package contains custom ROS2 interfaces for haptic robot devices. While there are plenty of existing ROS2 message types for common robot interfaces, there are no standard message types for haptic devices. This package aims to fill that gap by providing a set of custom message types for interfacing with haptic devices.

If you'd like to learn how to make your own ROS2 messages, follow this great post from the Robotics Back-End.

Currently Supported devices

• ForceDimension simga7
• ForceDimension delta3

Installation

Note: These installation steps are taylored to a linux or WSL2 environment. Tested in Ubuntu 22.04 and WSL2 on Windows 11.

The package can be placed inside a ROS2 workspace and build like any other ROS2 Package.

1. Navigate to your ROS2 workspace directory. Create the workspace with the src folder if not present.

   cd /path/to/workspace
   

2. Clone, and build

   git clone https://github.com/Neuro-Mechatronics-Interfaces/haptic_device_interfaces.git src/haptic_device_interfaces
   colcon build --packages-select haptic_device_interfaces
   

3. Source the workspace to include the newly built package.

   • For Linux users:

   source install/setup.bash
   

   • For Windows users:

   call install/setup.bat
   

4. That's it, enjoy!

General usage

To include these message types in your own project, general instructions are as follows:

• if you have a CMakeLists.txt file in your package, modify it to include the following:

find_package(haptic_device_interfaces REQUIRED)

ament_target_dependencies(my_executable <-- Change this to whatever executable name you have
  # Dependencies
  rclcpp
  haptic_device_interfaces # <-- Include this dependency
  # Include all other dependencies you have for your executable
  # ...
)

• Open the package.xml file and modify it to include the following:

  <depend>haptic_device_interfaces</depend>

Now you can include the message types in your scripts:

• cpp:

  #include "haptic_device_interfaces/msg/Sigma7.hpp"      
  

• python:

  from haptic_device_interfaces.msg import Sigma7  

License

Copyright 2024-2025 Neuromechatronics Lab, Carnegie Mellon University

Created by: Jonathan Shulgach (jshulgac@andrew.cmu.edu)

This Source Code Form is subject to the terms of the Mozilla Public License, v. 2.0. If a copy of the MPL was not distributed with this file, You can obtain one at https://mozilla.org/MPL/2.0/.