unina-icaros/dvrk-vrep

V-REP simulator for the da Vinci Research Kit (dVRK)

This repository has code related to daVinci Research Kit (dVRK) V-REP simulator. Under development!!!

Check out our YouTube-Video, showing the V-REP Simulator in action

Install

The repository contains both some V-REP scenes and ROS code to control the simulated dvrk-ros

• Download V-REP from the official webpage: http://www.coppeliarobotics.com/
• To use the simulator with ROS download and compile the V-REP ROS interface as described in: https://github.com/CoppeliaRobotics/v_repExtRosInterface
• Compile the catkin workspace folder using catkin build tools, NOT catkin_make. Please don't use catkin_make.

List of Folders:

• V-REP_scenes [under development]
  • Contains the main dVRK scene (dVRK) and five different applications described in [1]
• V-REP_models [under development]
  • Contains some V-REP models of the robots (complete dVRK, PSM, ECM, standard needle driver tool, some phantoms)
• V-REP_catkin_ws [under development]
  • Contains the ROS code of some application scenes described in [1]

[1] G. A. Fontanelli, M. Selvaggio, M. Ferro, F. Ficuciello, M. Vendittelli and B. Siciliano, "A V-REP Simulator for the da Vinci Research Kit Robotic Platform," 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), Enschede, 2018, pp. 1056-1061, doi: 10.1109/BIOROB.2018.8487187, URL: http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=8487187&isnumber=8487180

Publication

If you use this code in an academic context, please cite the following:

@INPROCEEDINGS{8487187,
author={G. A. Fontanelli and M. Selvaggio and M. Ferro and F. Ficuciello 
and M. Vendittelli and B. Siciliano},
booktitle={2018 7th IEEE International Conference on Biomedical Robotics 
and Biomechatronics (Biorob)},
title={A V-REP Simulator for the da Vinci Research Kit Robotic Platform},
year={2018},
volume={},
number={},
pages={1056-1061},
keywords={Robot sensing systems;Electronic 
countermeasures;Kinematics;Surgery;Manipulators;Solid modeling},
doi={10.1109/BIOROB.2018.8487187},
ISSN={2155-1782},
month={Aug},}

License

Copyright (C) 2017-2018 Giuseppe Andrea Fontanelli, ICAROS center, University of Naples Federico II

The RPG MPC repository provides packages that are intended to be used with ROS. This code has been tested with ROS kinetic on Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed. For a commercial license, please contact Giuseppe Andrea Fontanelli.

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/>.