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Che-Ming Chang edited this page Mar 2, 2024 · 4 revisions

Captoglove and Docker for Bluetooth communication

The Captoglove is a Bluetooth wireless sensorized glove with flex sensors measuring the amount of bend in each finger. However, there isn't much support available for the product in linux so a workaround is required to directly stream/connect the glove to linux.

Alternatively you can connect the captoglove to windows using the SDK and then patch the data through ROS.

Setting up Docker

Docker is an open platform for developing, shipping, and running applications. Here we use it as a virtual machine to test, install, and deploy the drivers for captoglove. The code is forked and adapted from larics and depended on protobuf and Qt to compile.

https://docs.docker.com/desktop/install/linux-install/ https://docs.docker.com/engine/install/ubuntu/ WIP

  1. Load urdf and open RVIZ: roslaunch moa_description view_arm.launch
  2. load driver: roslaunch moa_bringup moa_bringup.launch
  3. Right arm tracking: roslaunch moa_servoing moa_right_track_pose.launch
  4. Left arm tracking: roslaunch moa_servoing moa_left_track_pose.launch
  5. Remap and compile topics to output topics: roslaunch polhemus_glove playback_start.launch
  6. Connect to the rosserial esp32: roslaunch polhemus_glove serial_node_both.launch

For captoglove

  • make sure config_left.ini and config_right.ini have the correct MAC and settings
  • make sure dbus is connected in docker

cd CaptoGloveDocker ./start melodic_11

non-network local connections being added to access control list Using 'aroa' as username, with UID=1000 and GUID=1000 Mouting host folder '/home/aroa/CaptoGloveDocker/Melodic_11_Projects/' to '/home/aroa/' in the container Using 'docker' to run container

  • Starting system message bus dbus [ OK ]
  • Stopping bluetooth [ OK ]
  • Starting bluetooth [ OK ] root@ARoA-NUC:/home/developer#

bluetoothctl scan on scan off connect MAC_ADDR pair exit

roslaunch captoglove_ros_wrapper captoglove_ros_wrapper.launch

comment out in view_arm.launch

for going into joint gui mode

note: ros-noetic-nlopt libnlopt-cxx0 libnlopt-cxx-dev

WIP

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