dvrk robot

This package contains programs, which fires real robot, publishes and subscribes ROS 2 topics.

Depends

• sawIntuititiveResearchKit
• cisst-ros2

IMPORTANT: You first need to make sure you have all your configuration files ready, very likely in ~/ros2_ws/src/cisst-saw/sawIntuitiveResearchKit/share. You don't need to copy your configuration files back and forth anymore.

How to Run

For the Qt based application without rviz:

  ros2 run dvrk_robot dvrk_console_json -j <path_to_your_console_config.json>

Launch files can be found in the dvrk_model package.

We provide a few console configurations for simulated arms in src/cisst-saw/sawIntuitiveResearchKit/share/console.

Using the ROS 2 topics

The best way to figure how to use the ROS topics is to look at the python ROS wrappers in dvrk_python or the Matlab ROS wrappers in dvrk_matlab. The ROS topics are described in https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/API-2.x