This repository has code related to daVinci Research Kit (dVRK) ROS packages. See https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
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
- dvrk_robot [maintained]
- Main file to start dVRK (
dvrk_console_json), publish & subscribe ros topics - Launch files to start RViz with geometric simulation
- Main file to start dVRK (
- dvrk_model [maintained]
- CAD models & meshes
- RViz configs
- Launch files
- dvrk_python [maintained]
- Python classes using ROS topics
- Simple API to control any dVRK arm as well as console and teleoperation components
- dvrk_matlab [maintained, missing some features]
- Matlab classes using ROS topics
- Requires Robotics Toolkit (2015a and above), any OS (Windows, Mac, Linux)
- Simple API to control any dVRK arm
- No support for console (yet)
- dv_gazebo_plugins [not maintained]
- from WPI Nirav, don't know how to use Nirav?
- dvrk_kinematics [not maintained]
- kinematics model of MTM/PSM
- dvrk_teleop [not maintained]
- dummy teleop component with a Qt GUI