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When possible, propagate timestamps from the IO boards all the way to ROS.
I believe some messages are timestamps but:
- there might be some messages without any timestamps
- timestamps could come the…
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It appears the auto-generated mtsTeleoperation[PSM,ECM]Types.h has no method "StateTypeListInt" requested by mtsTeleoperation[PSM,ECM].cpp
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We need a small utility that could:
- Load an existing XML file for a specific arm
- For the ECM, turn on power to release the breaks
- Would disable power on all motors
To find the potentiometer sca…
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The arm serial number is pulled from the .cal file and saved in the sawRobotIO XML configuration file. Once a dVRK application is started, it is hard to know which configuration file has been loaded …
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The ROS bridges for the dVRK have grown organically and we've had some trouble standardizing the topics names as well as payloads.
# Topics
The latest master branch has the following topics. Note th…
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ROS uses a single message to pass:
- position
- velocity
- effort
We should create a cisst/SAW message matching this and provide a conversion method. For the dVRK we can provide a measured joint sta…
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Add mechanism to block position and/or orientation in teleoperation components:
- Commands: LockOrientation(bool), LockPosition(bool)
- Events: OrientationLocked(bool), PositionLocked(bool)
Add comma…
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We have multiple layers of components used for the dVRK:
- IO
- PID
- Teleop
- Console
For each of these layers, we also have a corresponding Qt widget and potentialy a ROS bridge. There is no real …
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