Development
Starting with version 2.0, you should use the .rosintall file in the dvrk-ros repository to pull all the dependencies required for the master or devel branches.
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Small projects
- Update Teleop doc
- #121, add cap on maximum difference between PID goals
- IK with joint limits for PSMs
- #54, save content of
.calfile in generated XML file (for debug, retrieval, ...) - Add alert when SUJ are moved without brakes released
- Autonomous ECM motion
- Documentation and scripts for stereo camera calibration
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Bigger projects
- Trajectory in cartesian space
- dVRK focus controller
- Controller class:
- Separate control PSM from PSM jaws
- Add different controllers: velocity, interpolate...
- 3D User Interface, ideally with RViz + endoscopic stereo stream
- Better teleop PSM:
- Use symmetry of MTM to set orientation and optimize roll
- Force feedback on MTM based on error in orientation between MTM and PSM
- MoveIt! (via CRTK)
- Binary packages with repository on dvrk.lcsr.jhu.edu
- ROS 2 (would likely require binary packages)
- rosparam
Community
Getting Started
- First Steps
- Software installation
- Controller Connectivity
- XML Configuration
- Hardware Setup
- Calibration
- Classic/Standard
- Si
- Examples
Advanced
- Software Architecture
- Application Development
- Config File formats
- APIs
- UI Customization
- Teleoperation
- Kinematics Simulation
- Potentiometer Issues
- Development Branches
- Release Checklist
- Projects
- Controllers/versions
- E-STOP Wiring
- Full da Vinci System
- Head Sensor
- Foot Pedals
- Video Pipeline
- Instruments
Miscellaneous
- Frequently Asked Questions
- User manuals Classic Si
- QLA Heat Sink
- Build w/o ROS Linux Mac
- cisst
- JHU
Deprecated