How to generate xml file with version 5?

[sailboy1025]

I was calibrating the dVRK with sawRobotIO1394CurrentCalibration -c <xml.file>, however it asks for latest XML files. I couldn't find a config generator which gives me higher than version 4.

The package is built with ros2 humble under 22.04 Ubuntu.

[adeguet1]

We added a python based config generator. Unless I did something wrong, it should be in your path: dvrk_config_generator.py. For the generation use Classic. For the hardware type, use QLA1. Note that I updated this code a few days ago so make sure use pull the latest code. This code has not been thoroughly tested so I hope it'll work.

[sailboy1025]

Thanks for your responsive! So for MTMs, it prompts error like 'Unrecognized robot type: 64307 (which is our MTML serial number)', for PSMs and ECM it works fine, though all XML files are successfully generated.

For general calibration, is the sawRobotIO1394CurrentCalibration also deprecated? Since it works well on our old computer running with ros1 and version.4 XML, but wouldn't work with the XML I just generated for the reason ''E- File: osaXML1394.cpp Line: 407 - All offsets equal, it is very unlikely that the current calibration has been performed for MTML", and this happened to all arms including ECM and PSMs.

[adeguet1]

When did you pull the code? I pushed some fixes for issues similar to the ones you mentioned last Friday. Maybe do a vcs pull and rebuild?

[sailboy1025]

Yeah you're right, thank you sir!

[adeguet1]

To note, the Python script to perform the potentiometer calibration has not yet been ported to ROS 2. I hope to do this early next week. Also missing is the MTM gravity compensation code. This might take a bit more time since it's Matlab based.