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https://github.com/uts-magic-lab/ros_myo
Myo armband ROS wrapper
https://github.com/uts-magic-lab/ros_myo
Last synced: about 2 months ago
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Myo armband ROS wrapper
- Host: GitHub
- URL: https://github.com/uts-magic-lab/ros_myo
- Owner: uts-magic-lab
- License: other
- Created: 2016-12-09T14:09:17.000Z (almost 8 years ago)
- Default Branch: master
- Last Pushed: 2017-05-22T12:24:20.000Z (over 7 years ago)
- Last Synced: 2024-07-16T13:07:47.072Z (2 months ago)
- Language: Python
- Homepage:
- Size: 286 KB
- Stars: 24
- Watchers: 7
- Forks: 21
- Open Issues: 1
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# Overview
This ROS package creates a ROS node which publishes raw data from the Thalmic Labs Myo Armband (tested with firmware version 1.1.4.2, 1.0.2.2, probably working with anythong >1.0) in the form of both standard and custom ROS messages. These messages can be subscribed to and used in standard ROS architectures.
I found the original code not completely working so I patched and cleaned a bit.
Special thanks to Danny Zhu for creating the initial [myo-raw](https://github.com/dzhu/myo-raw) interface, which allowed for access to the raw data streaming from the Myo.
# Requirements
- python >=2.6
- pySerial
- [ascii_graph](https://pypi.python.org/pypi/ascii_graph) (for the [emg_ascii_graph.py](scripts/emg_ascii_graph.py) node)
# Topics and Messages
There are a few topics generated by the myo-rawNode.py node. These are:
1. /myo_raw/myo_arm - ros_myo/MyoArm message telling which arm and direction of X axis is (supposedly) worn.
2. /myo_raw/myo_emg - ros_myo/EmgArray message with the EMG readings.
3. /myo_raw/myo_gest - ros_myo/MyoPose message with the pose/gesture ID.
4. /myo_raw/myo_gest_str - std_msgs/String with the pose/gesture name.
5. /myo_raw/myo_imu - a standard IMU message with quaternion pose, accelerometer and gyro axes.
6. /myo_raw/myo_ori - Vector3 containing roll, pitch, yaw in radians.
7. /myo_raw/myo_ori_deg - Vector3 containing roll, pitch, yaw in degrees.
8. /myo_raw/vibrate - UInt8 topic to publish vibration to make, accepts values 1, 2, 3. The higher the value the longer the vibration.
Note that for the pose/gestures to be published you need to do the [sync gesture](https://support.getmyo.com/hc/en-us/articles/200755509-How-to-perform-the-sync-gesture) first.
# Other demos
With the node running.
```
roslaunch ros_myo myo.launch
```
To observe the EMG data you can run:
```
rosrun ros_myo emg_ascii_graph.py
EMG values:
###############################################################################
████████████████████████████████████████████████████████████████ 2048 MAX_VAL
███ 119 EMG #0
██ 72 EMG #1
██████ 204 EMG #2
████████████████ 537 EMG #3
████ 153 EMG #4
█ 47 EMG #5
██ 93 EMG #6
█ 49 EMG #7
```
# License
ros_myo is released with the MIT License. For full terms and conditions, see the [LICENSE](LICENSE) file