Integrate touch foil

[ZdenekM]

art_touch_driver

• [x] read singletouch data (python-evdev?) -> publish as PoseStamped (/art/interface/touchtable/single)
• [x] calibration (homography from arbitrary number of points) - ask art_projected_gui to show those points (service)
• [x] latched bool topics: /art/interface/touchtable/calibrated, /art/interface/touchtable/calibrating
• [x] normal (not latched) topic: /art/interface/touchtable/touch_detected (std_msgs/Empty)
• [ ] parameter /art/interface/touchtable/active_area -> array of x,y coordinates defining touchable area on the table
• [x] empty service /art/interface/touchtable/calibrate (called by art_brain)
• [x] save calibration on the parameter server

art_projected_gui

• [x] service to show calibration points: /art/interface/projected_gui/touch_calibration (PointStamped[])
• [x] read /art/interface/touchtable/touch_detected and display calibrations points (one by one)
• [x] new cursor type
• [x] make pointing/touch cursors work together
• [ ] show active area

art_brain

• [x] wait until art_projected_gui is ready, check if touchtable requires calibration (/art/interface/touchtable/calibrated) and if so, ask it to calibrate by calling service /art/interface/touchtable/calibrate

Other stuff

• [x] test calibration with a new table
• [x] make a cool video ;-)

[ZdenekM]

Asynchronous reading of evdev events: http://python-evdev.readthedocs.io/en/latest/tutorial.html#reading-events-using-asyncore Reading device capabilities: http://python-evdev.readthedocs.io/en/latest/tutorial.html#listing-device-capabilities-devices-with-absolute-axes

[ZdenekM]

https://github.com/robofit/ar-table-common/blob/master/art_msgs/srv/TouchCalibrationPoints.srv

[ZdenekM]

75 - basic ability to display calibration points in art_projected_gui

[Kapim]

77 - reads events and publish them uncalibrated to /art/interface/touchtable/single

[ZdenekM]

84 - calibration. Seems to be working fine with GUI. Maybe there should be some protection against accidental "double touch" of the same point (during calibration).