Tactile Perception ROS

ROS2 package providing wrappers for DIGIT and GelSight tactile sensors.

Requirements

• ROS2 Humble
• Conda environment: tactile_perception_ros

Setup (each new terminal)

source ~/anaconda3/etc/profile.d/conda.sh
conda activate tactile_perception_ros
source /opt/ros/humble/setup.bash
source /home/fotis/tactile_perception_ros/install/setup.bash

Quick Start

# GelSight publisher + tactile flow
ros2 launch tactile_perception_ros gelsight_tactile_flow.launch.py

# DIGIT publisher + viewer
ros2 launch tactile_perception_ros digit_viewer.launch.py

Nodes

• digit_discovery, digit_publisher, digit_viewer
• gelsight_discovery, gelsight_publisher, gelsight_viewer
• tactile_flow_node

Topics (main)

• /tactile_perception_ros/digit/image
• /tactile_perception_ros/gelsight/image
• /tactile/force_vector
• /tactile/arrow_marker

License

CC-BY-NC-4.0