No force feedback using Geomagic & PHANToM Omni (Single Device Configuration)

[nezih-niegu]

Hi all,

I've been trying to troubleshoot an issue I had due to the lack of information when I run:

rostopic echo /Geomagic/force_feedback
The topic seems to be published, yet not showing anything I can work with. My PHANToMConfiguration and PHANToMTest run just like they are supposed to, that is to say, I do receive force feedback when testing the haptic device. So I don't think it is a HW problem.

AMBF Simulator runs with the -e 1 flag to activate force feedback as follows:

ambf_simulator --launch_file surgical_robotics_challenge/launch.yaml -l 0,1,3,4,14,17 -p 120 -e 1 -t 1 --override_max_comm_freq 120
roslaunch geomagic_control geomagic_headless.launch runs without any kind of problems as well. However, I've encountered something that I think could be related to this issue when the geomagic_multi_psm_control.py code is running (either using rosrun on my own package or independently with python3). Here I attach a screenshot of the output, where you may see that some important objects were not found:

The rest of the topics work just fine, and I can control the robot arms using the same haptic device. I just don't receive any force feedback as a ROS topic or, even physically, throughout the PHANToM Omni.

Hope you can help me sort this out, I've been stuck for almost two weeks.

Thanks,
Nezih N