MTM Data Acquisition and Processing for Surgical Robotics

This repository contains the ROS2 package responsible for data acquisition and processing from the Master Tool Manipulator (MTM) of a surgical robotics system. It provides the necessary nodes and scripts to interface with the MTM hardware, read sensor data, perform kinematic transformations, and publish standardized MTM state information to the ROS2 topic graph. This data forms the foundational input for advanced control algorithms and human-robot interaction strategies, enabling precise command generation for the slave manipulators