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jhu-dvrk / sawIntuitiveResearchKit

cisst/SAW stack for the da Vinci Research Kit (dVRK)
https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
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ROS2: XLM Config/Version must be at least 5 #186

Closed frank20a closed 10 months ago

frank20a commented 11 months ago

We already have dVRK running with ROS and I am trying to upgrade to ROS2. I used our previous XML configuration files from ROS but I am getting the following error when running ros2 run dvrk_robot dvrk_console_json -j console-ALL.json

E- File: osaXML1394.cpp Line: 51 -  Configure: Config/Version must be at least 5, version found is 4
File: /home/***/***/sawRobotIO1394-ECM-***.xml
Make sure you generate your XML files with the latest config generator.

I used our .cal files and the configGUI.m file found on ros2_ws/src/cisst-saw/sawIntuitiveResearchKit/share to generate new xml files but I am getting the same error there. I read the configGenerator.m file and it is hardcoded to write Version 4 on the XML (line 419) and the provided example XML file all write <Config Version="4"> inside.

adeguet1 commented 11 months ago

For the next release we are deprecating the Matlab based configuration generator. We introduced a new Python based program that supports the older controller (Classic/QLA1) as well as the upcoming ones (Clasic/DQLA and Si/dRAC). The script should be installed in your path after using catkin build (ROS 1) or colcon build (ROS 2): dvrk-config-generator.py (https://github.com/jhu-dvrk/sawIntuitiveResearchKit/tree/devel/applications/config-generator)

The script will generate the sawRobotIO.xml config file as well as simple arm config file (e.g. PSM1-12345.json) and a simple console file for a single arm (e.g. console-PSM1.json). Note that the configuration files are working for both ROS 1 and ROS 2. Sorry the wiki has not been updated

On Oct 6, 2023, at 04:38, Frank Fourlas @.***> wrote:

We already have dVRK running with ROS and I am trying to upgrade to ROS2. I used our previous XML configuration files from ROS but I am getting the following error when running ros2 run dvrk_robot dvrk_console_json -j console-ALL.json

E- File: osaXML1394.cpp Line: 51 - Configure: Config/Version must be at least 5, version found is 4 File: /home/meastro/utwente-daVinci/sawRobotIO1394-ECM-28927.xml Make sure you generate your XML files with the latest config generator.

I used our .cal files and the configGUI.m file found on ros2_ws/src/cisst-saw/sawIntuitiveResearchKit/share to generate new xml files but I am getting the same error there. I read the configGenerator.m file and it is hardcoded to write Version 4 on the XML (line 419) and the provided example XML file all write inside.

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frank20a commented 10 months ago

Thank you this worked!