Using Docker for Suture Challenge + ROS interface #75
Replies: 4 comments 5 replies
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Hello, Thanks for the detailed description of your machine's state. The docker container was provided for making it easy for people to submit entries for the surgical robotics challenge. In that approach, one would have cloned this repo as well as the AMBF on the local machine. They would then launch the simulation using the assets on the local machine. The docker container would really only contain the control scripts and the contents from the scripts folder from this repo. This would have allowed one to control the simulation via ROS on the local host. You can ignore the docker step and directly execute your control scripts on the local machine and launch the tele-operation scripts to control the PSMs via the input devices. |
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Ah completely understand, thank you! I did as directed and attempted to launch the tool challenge sim. I don't see any errors, but I'm also not seeing any PSM end effectors in the simulation. This is what I see in the sim: |
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Ah completely understand, thank you! I did as directed and attempted to launch the tool challenge sim. I don't see any errors, but I'm also not seeing any PSM end effectors in the simulation. This is what I see in the sim: |
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Great, yes this is normal. The PSMs are retracted all the way back. You can run the scripts in the examples folder to control the arms. |
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Hi - I am trying to setup my local machine (Ubuntu 20.04) with ambf and a docker container so I can interface with the suture challenge simulator using ROS scripts that I have written.
I followed the step 1 instructions here and set up ambf successfully on my local machine.
I then followed step 2 here and here and set up a docker image successfully on my local machine as well.
I'm not entirely sure what to do next.
Step 3 states "The simulation is spawned in AMBF with the launch file and AMBF Description Format (ADF) files from this repo" but if I'm using a docker container not sure how to proceed so that (1) I can visualize the simulator and (2) I can control the simulator via ROS scripts or input devices like the DVRK PSMs.
Thanks for your help!
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