====================================== Summary and licensing information ====================================== This code is for RAVEN II surgical simulator. It is based on the open-source RAVEN II control software, developed by the University of Washington Biorobotics lab at: https://github.com/uw-biorobotics/raven2/tree/indigo. It enables running RAVEN control software with no robotic hardware attached. A Python script (Real_Packet_Generator_Surgeon.py) mimicks the network packets sent from the surgeon console based on a previously collected data from the trajectory of a basic surgical task. A 3D visualization tool for ROS (rviz package) is used for 3D animation of the robotic motions. For more information, please see: http://web.engr.illinois.edu/~alemzad1/papers/MedicalCPS_2015.pdf http://arxiv.org/abs/1504.07135v1 Copyright (C) 2015 University of Illinois Board of Trustees, DEPEND Research Group Homa Alemzadeh, Daniel Chen, Abishek Krishnamoorthy (rviz), and Xiao Li (dynamic models) This program is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. This program is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with this program. If not, see <http://www.gnu.org/licenses/>. ====================================== How to run ====================================== Setting up the repository: 0. Clone the repository: "git clone https://github.com/CSLDepend/raven2_sim.git" 1. Rename the folder name from "raven2_sim" to "raven_2" 2. Change the ROS_PACKAGE_PATH environment variable to the location of raven_2 folder. For example: "export ROS_PACKAGE_PATH=/home/raven/raven_2:/home/raven/raven_2/raven_visualization:/opt/ros/indigo/share:/opt/ros/indigo/stacks" To test if the change was made successfully, run "roscd raven_2" and you should be relocated to the raven_2 folder. 4. Run "tar zxvf ./teleop_data/new_test_data.tgz" to unzip the datafiles used by the packet generator Running RAVEN simulator using trajectory 2: 1. Goto raven_2 folder: "roscd raven_2" 2. Simple simulator /w packet-gen: "python run.py sim 1 none traj2" Dynamic simulator /w packet-gen: "python run.py dyn_sim 1 none traj2" Robot /w packet-gen: "python run.py rob 1 none traj2" Robot /w surgeon-gui: "python run.py rob 0 none traj2"