ros2-falcon

ros2-falcon is a ros2 package that abstracts the operation of the Novint Falcon haptic controller (using the open-source library libnifalcon) on the following topics:

Publishers:

/falcon/buttons/center (std_msgs/Bool)
/falcon/buttons/left (std_msgs/Bool)
/falcon/buttons/right (std_msgs/Bool)
/falcon/buttons/up (std_msgs/Bool)
/falcon/position (geometry_msgs/Vector3)

Subscribers:

/falcon/force (geometry_msgs/Vector3)
/falcon/rgb (geometry_msgs/Vector3)

Installation

First, clone this repository to your workspace and run install.sh to build and install libnifalcon:

cd ~/colcon_ws/src # considering that your workstation is named colcon_ws
git clone https://github.com/jvmoraiscb/ros2-falcon.git # clone the repo
cd ros2-falcon/libnifalcon && ./install.sh # cd and run installation script

Second, run rosdep to ensure that all ros dependencies are installed:

cd ~/colcon_ws # considering that your workstation is named colcon_ws
rosdep install --from-paths src -y --ignore-src

Running

Build your workspace, source and run the package:

cd ~/colcon_ws # considering that your workstation is named colcon_ws
colcon build # build :)
source install/setup.bash # source :)
ros2 run ros2-falcon main # and finally, run :)