Simple Terminal Tool for Viper

This repository provides a simple terminal interface for Viper, utilizing USB communication on Linux OS.

It includes the necessary components to compile and link the system for usage.

Additional OS Info

For Windows User

The official SDK web source provided by Polhemus can be found at HERE.

You may want to check out the VPcmdIF web documentation and VPcmdIF libraries (first download link), which include a command-line software that utilizes the .dll dependency to extract data from Viper.

For Linux User

Additionally, my modified repository, which publishes POSE data as a ROS2 topic, can be found at this repo. This version has only been tested on ROS 2 Humble with Ubuntu 22.04.

Dependencies

• g++: Compiler to build the C++ files.
• libusb-1.0: USB library required for communication.
• pthread: For multi-threading.

Polhemus Viper USB udev Rule Setup

This guide explains how to set up a udev rule to grant proper permissions for the Polhemus Viper device on a Linux system.

1. Create the udev Rule

Run the following command to create the rule file:

echo 'SUBSYSTEM=="usb", ATTRS{idVendor}=="0f44", ATTRS{idProduct}=="bf01", MODE="0666"' | sudo tee /etc/udev/rules.d/99-polhemus-viper.rules

2. Apply the Rule

Reload and apply the new udev rule:

sudo udevadm control --reload-rules
sudo udevadm trigger

3. Verify the Device

Unplug and reconnect the device, then check if the rule is applied:

ls -l /dev/bus/usb/*/*
udevadm info -q all -n /dev/bus/usb/001/003  # Replace with correct bus/device number

4. Restart udev (if needed)

If the rule does not apply automatically, restart the udev service:

sudo systemctl restart udev

Now, the Polhemus Viper device should automatically get the correct permissions when plugged in.

Files

• main.cpp: The main entry point for the program.
• viper_queue.cpp: Manages the queue for Viper data.
• viper_ui.cpp: User interface for interacting with Viper.
• viper_usb.cpp: Handles USB communication with the Viper device.

Compilation

1. To compile the program:

   Run the following command:

   make

   This will build the executable vpr_simp_term using the object files generated from the source files.

2. To clean the project:

   Run the following command:

   make clean

   This will remove any generated object files and temporary files (e.g., *~).

Usage

After compilation, you can run the vpr_simp_term executable to interact with the Viper system.

License

No license, public avaliable.