search

jhu-dvrk / sawIntuitiveResearchKit

cisst/SAW stack for the da Vinci Research Kit (dVRK)
https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
118 stars 68 forks source link

Add simulation mode to SUJ component #71

Closed adeguet1 closed 5 years ago

adeguet1 commented 7 years ago

In simulation mode, add commands to set joint or cartesian goal.

adeguet1 commented 6 years ago

Added command and ROS topic to set joint position in:

To implement/test commands to set cartesian positions it would be nice to have the RViz models in dvrk-ros with an URDF for the full patient cart (there's already a console for this: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/blob/devel/share/console-full-cart-simulated.json).

The command to set cartesian position will likely set the position locally per SUJ, i.e. set arm RCM position wrt cart base (matching position_cartesian_local). We could also add a command to set PSM_RCM position wrt ECM_RCM if that's more intuitive for users (somewhat matching position_cartesian though position_cartesian is PSM_tip wrt ECM_tip). The later would only work for PSM SUJs.