da Vinci Research Kit ROS

This repository has code related to daVinci Research Kit (dVRK) ROS packages. See https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki

Install

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

Download and compile the cisst libraries and SAW components for the dVRK, see the dVRK tutorial wiki: https://github.com/jhu-cisst/cisst/wiki/Compiling-cisst-and-SAW-with-CMake#13-building-using-catkin-build-tools-for-ros
Download and compile dvrk-ros: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/CatkinBuild

How to run the code

simulation: see dvrk_teleop/README.md for details
robot: see dvrk_robot/README.md for details

List of Branches

master: current stable version
dev_groovy: groovy development verison
catkin: catkin version

List of Packages:

dv_gazebo_plugins: from WPI Nirav, don't know how to use Nirav?
dvrk_kinematics:
- kinematics model of MTM/PSM
dvrk_model:
- MTM + PSM CAD models & meshes
- rviz configs
- launch files
dvrk_teleop:
- dummy teleop component with a Qt GUI
dvrk_robot:
- main file to start robot, publish & subscribe ros topics