da Vinci Research Kit ROS

This repository has code related to daVinci_research_kit ROS packages.

Install

• download & build cisst, see dvrk tutorial wiki for detail
• download & compile cisst-ros

# cd to catkin ws src dir
cd /PATH/TO/CATKIN_WS/src
# clone repo
git clone [email protected]:jhu-cisst/cisst-ros.git

# build 
cd ..
catkin_make

• download & compile dvrk-ros

# cd to catkin ws src dir
cd /PATH/TO/CATKIN_WS/src
# clone repo
git clone [email protected]:jhu-dvrk/dvrk-ros.git
# build 
cd ..
catkin_make

How to run the code

• simulation: see dvrk_teleop/README.md for details
• robot: see dvrk_robot/README.md for details

List of Branches

• master: current stable version
• dev_groovy: groovy development verison
• catkin: catkin version

List of Packages:

• dv_gazebo_plugins: from WPI Nirav, don't know how to use Nirav?
• dvrk_joint_publisher: publishes joint state
• dvrk_kinematics:
  • kinematics model of MTM/PSM
• dvrk_model:
  • MTM + PSM CAD models & meshes
  • rviz configs
  • launch files
• dvrk_teleop:
  • dummy teleop component with a Qt GUI
• dvrk_robot:
  • main file to start robot, publish & subscribe ros topics
• dvrk_joint_publisher:
  • publish named joint states (position + velocity)
• dvrk\pcl
  • demonstration of stereovision
  • topics include raw images from left and right cameras, disparity map and point cloud
  • launch files