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ROS Package for Ascension Trakstar
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ROS Package for Ascension Trakstar

First, set up the TrakStar for use on linux systems (this is separate to ROS). Follow the installation steps as described here [ I recommend you just clone the repo to your home directory '~/'], but follow the instructions below when you get to the section "*libusb configuration":

Device permissions: Create a file in /etc/udev/rules.d/ called trakstar.rules

sudo gedit /etc/udev/rules.d/trakstar.rules

and then put this in there:

SUBSYSTEM=="usb", ATTR{idVendor}=="04b4", ATTR{idProduct}=="1005", MODE="0666", GROUP="plugdev" 

Save and exit the text editor, and then enter this in the terminal:

sudo udevadm control --reload-rules && udevadm trigger

Then unplug the TrakStar, power it off and then on again, plug it in, and run atcTest - you should be able to get a stream of data showing in the console from the TrakStar.

Running the node

After setup to run the node, use

rosrun trakstar_node trakstar

to launch the node where each sensor connected will be published in an array (msg type geometry_msg::PoseArray)

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