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daVinci Research Kit ROS stack
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Latest commit a1df34a Apr 10, 2019

da Vinci Research Kit ROS

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


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

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 [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)
  • 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
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