#Phantom installation in Linux

comming soon...

##Compatiblity Test

See https://github.com/jaejunlee0538/sensable_phantom_in_linux/wiki/Compatibility-Test-Log

##Installation

#####Download PDD and OpenHaptics

Download PDD(Phantom Device Driver) and Open Haptics from Sensable DSC homepage.

In this tutorial, we used the following versions.

• OpenHapticsAE Linux v3.0
• Phantom Device Driver 4.3

And also download Sensable_Phantom_libs.tar.gz.

Sensable_Phantom_libs.tar.gz contains library files required for Ubuntu versions higher than 11.04, which are not compatible with PDD in terms of raw1394 package.

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#####Installing PDD Extract files from dowloaded OpenHapticsAE_Linux_v3_0.zip file.

x86

$ cd [DOWNLOAD_DIR]/OpenHapticsAE_Linux_v3_0/OpenHapticsAE_Linux_v3_0/PHANTOM Device Drivers/32-bit
$ sudo dpkg -i phantomdevicedrivers_4.3-3_i386.deb

x64

$ cd [DOWNLOAD_DIR]/OpenHapticsAE_Linux_v3_0/OpenHapticsAE_Linux_v3_0/PHANTOM Device Drivers/64-bit
$ sudo dpkg -i phantomdevicedrivers_4.3-3_amd64.deb

Install required packages for PDD.

$ sudo apt-get install freeglut3-dev
$ sydo apt-get install x11proto-gl-dev
$ sudo apt-get install libmotif-dev
$ sudo apt-get install mesa-utils
$ sudo apt-get install libglw1-mesa-dev

If you encounter any problem with libGLw* file, you have to read DSC_forum_libGLw.

libglw1-mesa-dev was installed for getting libGLw* files. But originally, downloading libGLw.so, libGLw.so.1, libGLw.so.1.0.0 files and copying it to /usr/lib directory was suggested(see here). Instead, we tried installing libglw1-mesa-dev and it worked. If you encounter any problem with this library, use the included library files(in libGLw.tar.gz) instead.

Extract files from Sensable_Phantom_libs.tar.gz and replace libPHANToMIO.so.4.3 file with included in Linux_JUJU_PDD_XX-bit folder.

Originally JUJU_PDD file was uploaded in DSC_forum_JUJU_PDD, but download link is not available now.

Run the following commands.

x86

$ cd [DOWNLOAD_DIR]
$ mkdir Sensable_Phantom_libs && tar -xvf Sensable_Phantom_libs.tar.gz -C Sensable_Phantom_libs
$ cd Sensable_Phantom_libs/Linux_JUJU_PDD_32-bit
$ sudo cp libPHANToMIO.so.4.3 /usr/lib

x64

$ cd [DOWNLOAD_DIR]
$ mkdir Sensable_Phantom_libs && tar -xvf Sensable_Phantom_libs.tar.gz -C Sensable_Phantom_libs
$ cd Sensable_Phantom_libs/Linux_JUJU_PDD_64-bit
$ sudo cp libPHANToMIO.so.4.3 /usr/lib

If old symbolic links exist, you have to remove them. To check it, run this command.

$ find /usr/lib -name "libPHAN*"
/usr/lib/libPHANToMIO.so.4.3
/usr/lib/libPHANToMIO.so.4
/usr/lib/libPHANToMIO.so

If you have the output same above, delete broken symbolic links. Otherwise, skip this command. libPHANToMIO.so.4 and libPHANToMIO.so had symbolic links to old libPHANToMIO.so.4.3 file.

$ cd /usr/lib
$ sudo rm libPHANToMIO.so
$ sudo rm libPHANToMIO.so.4

Then create symbolic links with same name.

$ sudo ln -s libPHANToMIO.so.4.3 libPHANToMIO.so
$ sudo ln -s libPHANToMIO.so.4.3 libPHANToMIO.so.4

Move to the Sensable_Phantom_libs folder.

x86

$ cd [DOWNLOAD_DIR]/Sensable_Phantom_libs/Linux_JUJU_PDD_32-bit

x64

$ cd [DOWNLOAD_DIR]/Sensable_Phantom_libs/Linux_JUJU_PDD_64-bit

Replace PHANToMConfiguration file with included in the folder.

$ sudo cp PHANToMConfiguration /usr/sbin

##Run PHANToMConfiguration and PHANToMTest In this chapter, we will run PHANToMConfiguration program to configure the devices and run PHANToMTest to check the device is working well. Firstly, we are going to use Phantom Omni(IEEE-1394 interface) and after then try with Phantom Premium 1.5(Parallel port)

First, let's run PHANToMConfiguration program.

If you are using Ubuntu version of 11.04 or higher, you might see this error message.

$ /usr/sbin/PHANToMConfiguration
/usr/sbin/PHANToMConfiguration: error while loading shared libraries: libraw1394.so.8: cannot open shared object file: No such file or directory

In x64 Ubuntu, PHANToMConfiguration worked well without the above problem. But when running PHANToMTest, you will encounter libraw1394.so.8 error. So anyway you have to run the following command.

To solve this, create symbolic link for libraw1394.so.8.

x86

$ cd /usr/lib/i386-linux-gnu
$ sudo ln -s libraw1394.so.11 libraw1394.so.8

x64

$ cd /usr/lib/x86_64-linux-gnu
$ sudo ln -s libraw1394.so.11 libraw1394.so.8

Then try to run PHANToMConfiguration again.

$ /usr/sbin/PHANToMConfiguration

Yet one error message showed up, Phantom omni was working fine.

$ /usr/sbin/PHANToMConfiguration
Warning: Cannot convert string "-adobe-helvetica-medium-r-normal--14-100-100-100-p-76-iso8859-1" to type FontStruct
Warning: Cannot convert string "-adobe-helvetica-bold-r-normal--14-100-100-100-p-82-iso8859-1" to type FontStruct
PDD Error: raw1394 module not loaded, modprobe raw1394 to correct

Let's run PHANToMTest program.

$ /usr/sbin/PHANToMTest
Warning: Cannot convert string "-adobe-helvetica-medium-r-normal--14-100-100-100-p-76-iso8859-1" to type FontStruct
open_load_connection: open(PIPE_NAME,O_WRONLY,O_NDELAY): : No such file or directory

Click space-bar to move to next step. Encoders, force feedback, 2 buttons were fine.

Box test was also done with no problem.

If you want to test with Phantom Premium 1.5(parallel port) also, keep reading this chapter.

You must read this portion if you have to use parallel port for Phantom.

Built-in parallel port was used for this test.

Run the following commands.

x86

$ cd /usr/lib/i386-linux-gnu
$ sudo ln -s libraw1394.so.11 libraw1394.so.8
$ /usr/sbin/PHANToMConfiguration

x64

$ cd /usr/lib/x86_64-linux-gnu
$ sudo ln -s libraw1394.so.11 libraw1394.so.8
$ /usr/sbin/PHANToMConfiguration

Manipulate configuration window for your device.

Test device was Phantom Premium 1.5A equipped with high-resolution gimbal.

Before running PHANToMTest, you have to finish additional job.

First, you have to check your parallel port is running on EPP mode.

EPP mode communication is required to support this high-speed channel. --PDD and OH Installation Guide For Linux--

To check EPP mode, execute the following command. In this tutorial, our parport was assigned to parport0.

$ cat /proc/sys/dev/parport/parport0/modes
PCSPP,TRISTATE,EPP

If you find ECP instead of EPP, then go to the BIOS setting and change the parallel port mode to EPP before going to the next step.

PHANToM does not use parportx directly, instead it access the parport through a symbolic link named as /dev/phnepp. So you have to create symbolic link named /dev/phnepp which points to /dev/parportX. In this tutorial, /dev/phnepp points to /dev/parport0.

If you have no idea about symbolic link, see 'what is link?'.

Note The PHANTOM parallel port driver uses the /dev/phnepp file to access the hardware device. This is installed as a symbolic link to /dev/ parport0. To control a PHANTOM attached to a different port, change this symbolic link to point to the appropriate device entry. Additionally, the “modes” file should be linked to /dev/phnepp_modes so that the selected port can be opened with the proper settings. --PDD and OH Installation Guide For Linux--

To create symbolic links, run the following commands.

$ sudo chmod a+rw /dev/parport0
$ sudo ln -s /dev/parport0 /dev/phnepp
$ sudo ln -s /proc/sys/dev/parport/parport0/modes /dev/phnepp_modes

Finally, Phantom Premium 1.5 is ready to be run.

$ sudo /usr/sbin/PHANToMTest

Because our control board had been broken, I couldn't check button is working.

Excepting the button, everything(encoders, gimbal encoders, force feedback) was checked and working fine.

##Installing Open Haptics Move to the OpenHaptics folder and install OpenHaptics.

x86

$ cd [DOWNLOAD_DIR]/OpenHapticsAE_Linux_v3_0/OpenHapticsAE_Linux_v3_0/OpenHaptics-AE 3.0/32-bit
$ sudo dpkg -i openhaptics-ae_3.0-2_i386.deb

x64

$ cd [DOWNLOAD_DIR]/OpenHapticsAE_Linux_v3_0/OpenHapticsAE_Linux_v3_0/OpenHaptics-AE 3.0/64-bit
$ sudo dpkg -i openhaptics-ae_3.0-2_amd64.deb

Then install libncurse5-dev library.

$ sudo apt-get install libncurses5-dev

Add 3DTOUCH path to /etc/environment file. First open environment file with text editor.

$ sudo gedit /etc/environment

Then add the following line at the end of the file.

3DTOUCH_BASE=/usr/share/3DTouch

Then save and close.

##Test code After installing OpenHaptics, you can find example codes at /usr/share/3DTouch/examples. Copy the examples source codes to you want or just use included in this repository. Example codes in this repository are exactly same codes which are installed with OpenHaptics.

To create binary executable, move to a example you want.

$ cd [COPYED_DIR]/sensable_phantom_in_linux/examples/HD/graphics/ParticleWaltz
$ make
g++ -W -fexceptions -g -D_DEBUG -Dlinux -o ParticleWaltz ActorDynamics.cpp DynamicsSimulator.cpp ForceModel.cpp helper.cpp main.cpp -lHD -lHDU -lrt -lGL -lGLU -lglut -lncurses

Then you can execute binary.

$ ./ParticleWaltz

HDAPI example(HD/ParticleWaltz)

HLAPI example(HL/PointManipulation)

If you come accross with similar error message as follow when you run example program in x64 Ubuntu,

$ ./ParticleWaltz
./ParticleWaltz: error while loading shared libraries: libHD.so.3.0: cannot open shared object file: No such file or directory

follow this commands.

$ sudo echo "/usr/lib64" | sudo tee /etc/ld.so.conf.d/open_haptics_libs.conf
$ sudo ldconfig

close command window and reopen and try running the example again.

You can find relevant articles stkflw_shared_object_error,stkflw_LD_LIBRARY_PATH,sudo_echo.

##Miscellaneous

• Phantom Device Driver library

  The PHANTOM Device Driver library is built as a shared object and is installed in /usr/lib/libPHANToMIO.so

• Phantom Applications

  Administrative applications are installed in /usr/sbin

• Phantom Configuration Files

  The default directory for configuration files is /etc/SensAble/PHANToMDeviceDrivers

• System Language

  If your system language is not English, you have to prefix a flag LANG=en_us. So when you run configuration program, you have to type LANG=en_us /usr/sbin/PHANToMConfiguration. When running test program, you have to type LANG=en_us /usr/sbin/PHANToMTest.

##References

comming soon...