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jhu-dvrk / dvrk-ros

daVinci Research Kit ROS stack. See dVRK wiki to get started: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
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Create teleoperation example in Python #43

Open adeguet1 opened 1 year ago

adeguet1 commented 1 year ago

The goal is to replicate the existing teleoperation logic in Python so users can (more) easily adapt the logic to their own application. See also https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Teleoperation. As it is, the Python code will not be able to send velocities (twist) along the setpoint_cp to the PSM. This is a good use case to justify adding servo_cpvf to CRTK.