ROS driver for NDI/Ascension trakSTAR/driveBAY2 devices
The package was tested in Ubuntu 16.04 with ROS-kinetic and Ubuntu 20.04 with ROS-Noetic.
First, make sure you have installed libusb, if not
sudo uapt-get install libusb-dev
You can follow the instructions on how to create a workspace in catkin here http://wiki.ros.org/catkin/Tutorials/create_a_workspace
Clone the repo to your src directory in the catkin workspace. Build the project through catkin_make
or catkin build
Copy the "99-libusb.rules" file into the path "/etc/udev/rules.d/" or you can copy by command:
sudo cp ../src/ascension_ros/99-libusb.rules /etc/udev/rules.d/
Then reload the udev rules by:
sudo udevadm control --reload-rules && sudo udevadm trigger
Start ROS through terminal:
roscore
Set the source from the main catkin_ws by:
source devel/setup.bash
Launch the demo of visualing the sensor pose in Rviz by:
roslaunch ascension demo.launch
Launch the visualization of the sensor pose with respect to the snake robot in Rviz by:
roslaunch ascension transform.launch