HowTo make Jr3 driver work under 64bit Ubuntu, running kernel 3.8.0-26-generic

1. Download the following two files

https://bitbucket.org/samirmenon/scl-manips-group/downloads/Jr3Interface.zip

https://bitbucket.org/samirmenon/scl-manips-group/downloads/Jr3PciDriver.zip

2. Unpack the Jr3PciDriver.zip or clone the kernel module sources from github

git://git.openrobots.org/robots/jr3-kmod

3. cd into Jr3PciDriver and compile

make

4. Load the kernel module and create a dev node by executing my shell script insertModule

sh insertModule

5. To use the driver include all of the files of Jr3Interface.zip in your project

6. Here's a bare minimum example of how to use the Jr3Interface in your code:

#!c++

//include the header
#include "Jr3Sensor.h"
// create a sensor object
Jr3Sensor ForceTorqueSensor;
// set the offsets to zero
ForceTorqueSensor.ResetOffsets();

// create an array to store forces and torques
// array elements 0-2 will contain forces in x, y, z direction
// array elements 3-5 will contain torques around the x, y, z axis
float MeasuredCartesianForcesTorques[6];

// call this method everytime you want to read out forces/torques from the sensor
// the second parameter specifies which filter to use 1=500Hz, 2=125Hz, feel free to add your own
ForceTorqueSensor.GetCartesianForcesTorques(MeasuredCartesianForcesTorques, 1)

7. Include Header Files

When compiling your code you will need to tell the compiler to include the header files from Jr3PciDriver/include/ as well as all the files from Jr3Interface.zip you added to your code

Feel free to contact me if you run into problems: gerlinghaus@cs.stanford.edu