Author: Adnan Munawar

AIM Labs, Worcester Polytechnic Institute

amunawar@wpi.edu

Description:

This repository contains code for Motion Planning Interfaces, Haptics, and Semi-Virtual TeleOperations of the dVRK components with the actual components.

Pre-Requisites:

These packages require the installation of the dvrk-ros packages from here:

https://github.com/WPI-AIM/dvrk-ros.git

Additionally, the installation of cisst-saw packages is also required from here

https://github.com/jhu-cisst/cisst/wiki/Compiling-cisst-and-SAW-with-CMake#13-building-using-catkin-build-tools-for-ros

Packages:

dvrk_trajectory: Contains Code for MTM Pose capture and simulation in RViz. Also containts code for capturing footpedal tray events

kinematics: Contains code for MTM and PSM motion planning tasks, collision detection of PSM in simulation and Virtual Teleoperation of PSM in simulation using actual MTM

mtm_haptics: Contains code for MTM Haptic Feedback (In development phase)

mtmr_rviz: MoveIt interfaces for MTMR

psm1_rviz: MoveIt interfaces for PSM1

dvrk_arm: Generic C++ Interface for controlling PSMs/MTMs

falcon_teleop Code for Teleop of PSMs using Novint Falcon