Hardware Drivers
⚠️I no longer maintain these hardware drivers and, in most cases, no longer have access to the hardware. In many cases, the hardware these drivers was written for has since become obsolete. This code is most likely useful as a reference for developing new hardware drivers.
I have also released drivers for controlling robotics hardware. Much of this software was developed in collaboration with my colleagues in the Rutgers University IEEE Student Branch or the Personal Robotics Lab at Carnegie Mellon University to address a specific need we had.
A ROS driver for the Hagisonic Stargazer. This package provides a Python interface for communicating to the Stargazer over RS-232 and a ROS node that publishes all detected markers as ROS messages. This project is a collaboration with Michael Dawson-Haggerty and Pras Velagapudi.
A ROS hardware driver for the PNI Fieldforce TCM digital compass. This project is a collaboration with Cody Schafer.
A ROS hardware driver that capture images from hardware-synchronized PlayStation Eye cameras using direct Video4Linux system calls. This package is intended convert two PlayStation Eye cameras into an inexpensive stereo pair.
A ROS hardware driver for controlling the TI MDL-BDC24 "Black Jaguar" motor controller. This package communicates with one Jaguar over RS-232 and uses its built-in CAN bus bridge to control additional daisy-chained hardware. This project is a collaboration with Cody Schafer.
I have also released drivers for controlling robotics hardware. Much of this software was developed in collaboration with my colleagues in the Rutgers University IEEE Student Branch or the Personal Robotics Lab at Carnegie Mellon University to address a specific need we had.