tangethan79 / dvrk_config_jhu

dVRK configuration files for all the JHU systems

dVRK configuration files for JHU

Since we have multiple systems at JHU, the configuration files are organized in sub-directories. Directory names start with the institution name (e.g. jhu for Johns Hopkins, isi for Intuitive Surgical) and should contain the system name (e.g. JHU has four systems, a Classic research kit: jhu-dVRK, a full da Vinci Classic: jhu-daVinci, a full da Vinci Si: jhu-daVinci-Si and a Si Kit: jhu-dVRK-Si).

We strongly encourage each dVRK site to create their own repository based on this one. If you want to add this to your ROS workspace, don't forget to edit the CMakeLists.txt and package.xml to rename the package (query replace the dvrkconfig_jhu with dvrk_config_XXX (XXX being your institution's acronym). Once this is done and after you rebuild your workspace, you will be able to do roscd dvrk_config_jhu or use this path to locate the dVRK configuration files in your own launch files.

Each directory should contain:

• your IO configuration files, sawRobotIO1394-xxxxx.xml, for each arm identified by its serial number. For Classic arms, you might also want to store the original .cal files provided by Intuitive Surgical since they are needed to re-generate the IO XML files.
• your arms configuration files (for Classic systems)
• your console configuration files since these refer to your system specific IO configuration files