sawHaplyService

SAW wrapper for Haply Inverse3 haptic devices. This repository provides a core component as well as:

• Example application with Qt based GUI
• ROS node (also with Qt based GUI)

Links

• License: http://github.com/jhu-cisst/cisst/blob/master/license.txt
• JHU-LCSR software: http://jhu-lcsr.github.io/software/

Dependencies

• cisst libraries: https://github.com/jhu-cisst/cisst
• Haply Service: The Haply service must be running and accessible via WebSockets (default: ws://localhost:10001).
• Qt for user interface
• ROS and ROS CRTK (optional) - works with ROS 1 and ROS 2!

Compilation and configuration

See https://github.com/jhu-saw/vcs for download and build instructions.

Examples

Main example

The main example provided is sawHaplyServiceQtExample. The command line options are:

sawHaplyServiceQtExample:
 -j <value>, --json-config <value> : json configuration file (optional)
 -m, --component-manager : JSON files to configure component manager (optional)
 -D, --dark-mode : replaces the default Qt palette with darker colors (optional)

To run the example with a configuration file, use:

sawHaplyServiceQtExample -j myconfig.json

A default configuration file is installed in the share directory (share/sawHaplyService/sawHaplyService-config.json).

ROS

If you also want to use the ROS node for ROS 1, run:

rosrun haply haply

For ROS 2, run:

ros2 run haply haply

Other "middleware"

Besides ROS, the Haply component can also stream data to your application using the sawOpenIGTLink or sawSocketStreamer components. See:

• sawOpenIGTLink
• sawSocketStreamer