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da Vinci Research Kit ROS

This repository has code related to daVinci Research Kit (dVRK) ROS packages. See


List of Packages:

  • dvrk_robot [maintained]
    • Main file to start dVRK (dvrk_console_json), publish & subscribe ros topics
    • Launch files to start RViz with geometric simulation
  • dvrk_model [mostly maintained]
    • CAD models & meshes
    • RViz configs
    • Launch files
  • dvrk_python [maintained]
    • Python classes using ROS topics
    • Simple API to control any dVRK arm as well as console and teleoperation components
  • 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)
  • dvrk_hrsv_widget [maintained]
    • Qt based application that launches two simple widgets to be displayed in stereo console
    • Provides simple text based feedback to operator to understand current state of dVRK components
  • dvrk_arms_from_ros [maintained]
    • cisst/SAW plugin for the dVRK C++ stack to use any arm with a dVRK compatible set of ROS topics
    • This plugin allows to use ROS as middleware between two dVRK sets of arms on different PCs (distant tele-operation)