Working on a docker file to download and install Geomagic Touch/Phantom Omni on Ubuntu for ROS development

current_install_script

!sudo apt-get install build-essential libncurses5-dev freeglut3 zlib1g-dev qt5-default xz-utils 

# download and extract drivers for geomagic touch and open haptics dev api
!GEOMAGIC_TOUCH_DRIVERS="https://s3.amazonaws.com/dl.3dsystems.com/binaries/Sensable/Linux/TouchDriver2019_2_15_Linux.tar.xz"
!OPENHAPTICS="https://s3.amazonaws.com/dl.3dsystems.com/binaries/support/downloads/KB+Files/Open+Haptics/openhaptics_3.4-0-developer-edition-amd64.tar.gz"

!source ~/.bashrc

!wget -c "https://s3.amazonaws.com/dl.3dsystems.com/binaries/Sensable/Linux/TouchDriver2019_2_15_Linux.tar.xz"
!tar xvfJ /content/TouchDriver2019_2_15_Linux.tar.xz

!wget -c "https://s3.amazonaws.com/dl.3dsystems.com/binaries/support/downloads/KB+Files/Open+Haptics/openhaptics_3.4-0-developer-edition-amd64.tar.gz" -O - | tar -xzf -


# setup our config files
!sudo mkdir /usr/share/3DSystems
!sudo mkdir /usr/share/3DSystems/config
!GTDD_HOME=/usr/share/3DSystems
!echo $GTDD_HOME

# install the geomagic touch drivers
!sudo cp /content/TouchDriver2019_2_14/bin/* /usr/bin
!sudo cp /content/TouchDriver2019_2_14/usr/lib/*.so /usr/lib

# install open haptics
!bash /content/openhaptics_3.4-0-developer-edition-amd64/install

install_script.sh

sudo apt-get install qt5-default

OPENHAPTICS="https://s3.amazonaws.com/dl.3dsystems.com/binaries/support/downloads/KB+Files/Open+Haptics/openhaptics_3.4-0-developer-edition-amd64.tar.gz"
GEOMAGIC_TOUCH_DRIVERS="https://s3.amazonaws.com/dl.3dsystems.com/binaries/Sensable/Linux/TouchDriver2019_2_15_Linux.tar.xz"

wget -c "$OPENHAPTICS" -O - | tar -xz


wget -c "$GEOMAGIC_TOUCH_DRIVERS" -O - | tar -xz
cp ./TouchDriver2019_2_15_Linux/bin/* /usr/bin
cp ./TouchDriver2019_2_15_Linux/lib/LibPhantomIOLib42.so /usr/lib


sudo mkdir /usr/share/3DSystems
sudo mkdir /usr/share/3DSystems/config
GTDD_HOME=/usr/share/3DSystems
echo $GTDD_HOME
# suggests logging out for env vars to take effect


#  Connect the Haptic Device (Touch or Touch X). Use the “ListUSBHapticDevices” 
# script to find out which port the haptic device has been assigned.
bash ListUSBHapticDevices
# It might be better to create a udev rule to have this automatically picked up and named for ROS


# Set permission for each com port using the command
sudo chmod 777 /dev/ttyACM0 # (ACM1, ACM2,ACM3 etc..)
#  Every time user disconnects and re connects the USB device or the system to which the
# device is connected goes into hibernation or sleep mode, the user needs to set read/write/execute
# (Chmod 777) permissions to the COM port.

sudo Touch_Diagnostic