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

List of Packages:

• dvrk_robot [maintained]
  • Main file to start dVRK (dvrk_console_json), publish & subscribe ros topics
  • Lauch files to start RViz with geometric simulation
• dvrk_model2 [maintained]
  • CAD models & meshes
  • RViz configs
  • Launch files
• dvrk_python [maintained]
  • Python classes using ROS topics
  • Simple API to control any dVRK arm
  • No support for console (yet)
• dvrk_matlab [maintained, missing some features]
  • Matlab classes using ROS topics
  • Requires Robotics Toolkit (2015a and above), any OS (Windows, Mac, Linux)
  • Simple API to control any dVRK arm
  • No support for console (yet)
• dv_gazebo_plugins [not maintained]
  • from WPI Nirav, don't know how to use Nirav?
• dvrk_kinematics [not maintained]
  • kinematics model of MTM/PSM
• dvrk_teleop [not maintained]
  • dummy teleop component with a Qt GUI

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