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'''''This page is currently under development, please check back in the future for updates'''''

Welcome to !SynTouch's new ROS package '''st_biotac'''. !SynTouch is currently developing this package to process !BioTac data collected from supported hardware (such as [[st_cheetah|st_cheetah]]).

For more information visit: [[http://www.syntouchllc.com|SynTouch Website]]

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= Package Summary (temp) =

This package contains all messages specific to the SynTouch stack, configuration of data acquisition hardware, as well as the ''future home'' for other useful tools for programming with the !BioTacs (such as a GUI, data saving utilities, and other functions relevant to the status of the !BioTac).

 * Authors: Abhishek Pawar, Gary Lin, and Jeremy Fishel, contact: ros@syntouchllc.com
 * Maintained by: Abhishek Pawar / abhishek.pawar@syntouchllc.com
 * License: GPL
 * External Website: http://www.syntouchllc.com
 * Source: (software currently under development)

== Overview ==
This is the main package of the SynTouch stack for interfacing with the BioTac tactile sensor. It provides the messages used by other packages in the stack.

=== Planned Development ===
 * ''GUI for visualizing BioTac data''
 * ''Data saving tools for exporting to CSV''

== ROS API ==

''''' INSERT ROS API FIGURE '''''

=== Subscribed Topics ===
 * '''biotacs/<port_name>''': the BioTac data coming from the specified port (i.e. a port named "left_hand" would have the topic name"  biotacs/left_hand). Each sample appears as a new message for compatibility across different hardware. The configuration properties of each port are described below.

=== Published Topics ===




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=== Messages Explained ===

 * '''!BioTac_Port_Data''': data published from supported acquisition hardware port. It contains:
  * ''float64 time_stamp''
   The time at which samples were taken in ROS time.
  * ''std_msg/string channel_id''
   The name of the sample channel collected (can be "Pac", "Pdc", "Tac", "Tdc", or ''En'' where n represents the electrode number, see the BioTac wiki page for additional details)
  * ''int16[] Biotac_Data'' 
   Contains an array of integers of BioTac measurements. The length of the array is equal to the number of !BioTacs supported by the hardware. Values range from 0 to 4095 for connected !BioTacs; -1 is passed for !BioTacs that are not connected or the data is corrupted during transmission (i.e. has bad parity).


== Installation Instructions ==

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== Contributing ==

If you are interested in contributing to the development of this stack or would like to add or help us add new function to a package please contact us at ros@syntouchllc.com

== Support ==

If you encounter a problem or need support please contact us at ros@syntouchllc.com

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