Notification

This work is unofficial, unsupported and in progress in the current location.

Description

This repository has code for using daVinci research kit on Gazebo 7 and controlled using ROS.

Author

Ankur Agrawal:asagrawal@wpi.edu

Radian Azhar Gondokaryono:ragondokaryono@wpi.edu

Install

• download & compile dvrk_gazebo_ros

# cd to catkin ws src dir
cd /PATH/TO/CATKIN_WS/src
# clone repo
git clone https://github.com/ankur-agrawal/Cart_PSM_ECM.git
# build
cd ..
catkin_make

Packages

This is a short description of the packages in this repository. The detailed explanations and instructions are available in the packages itself.

dvrk_gazebo: Provides launch files to launch PSM, MTM, ECM, SUJ Cart and the full dvrk models in gazebo.

dvrk_gazebo_control: Provides example codes to control the gazebo simulation.

dvrk_model: Provides CAD models, URDFs, SDFs of PSM, ECM, MTM, Laprotek Master and the SUJ Cart. Additionally it has launch files for all of the models in RViz. The contents of this folder should be pasted in .gazebo folder for nested model simulation in Gazebo.

dvrk_plugins: Has the model plugin which provides interface between the dvrk simulation in Gazebo and ROS.

laprotek_comm: Provides interface between Laprotek and ROS.

Dependencies

Gazebo 7, ROS kinetic or ROS indigo, gazebo_ros_pkgs. If ROS-indigo is to be used with Gazebo 7, keep gazebo_ros_pkgs (https://github.com/ros-simulation/gazebo_ros_pkgs/tree/indigo-devel) in your src folder.