da Vinci Research Kit ROS

This repository has code related to daVinci Research Kit (dVRK) ROS packages. See https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki

Install

We use the catkin build tools, NOT catkin_make. Please don't use catkin_make

• Download and compile the cisst libraries and SAW components for the dVRK, see the dVRK tutorial wiki: https://github.com/jhu-cisst/cisst/wiki/Compiling-cisst-and-SAW-with-CMake#13-building-using-catkin-build-tools-for-ros
• Download and compile dvrk-ros: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/CatkinBuild

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_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