This repository contains code for Motion Planning Interfaces, Haptics, and Semi-Virtual TeleOperations of the dVRK components with the actual components.
These packages require the installation of the dvrk-ros packages from here:
https://github.com/WPI-AIM/dvrk-ros.git
Additionally, the installation of cisst-saw packages is also required from here
dvrk_trajectory: Contains Code for MTM Pose capture and simulation in RViz. Also containts code for capturing footpedal tray events
kinematics: Contains code for MTM and PSM motion planning tasks, collision detection of PSM in simulation and Virtual Teleoperation of PSM in simulation using actual MTM
mtm_haptics: Contains code for MTM Haptic Feedback (In development phase)
mtmr_rviz: MoveIt interfaces for MTMR
psm1_rviz: MoveIt interfaces for PSM1
dvrk_arm: Generic C++ Interface for controlling PSMs/MTMs
falcon_teleop Code for Teleop of PSMs using Novint Falcon
geomagic_teleop TeleOp of PSMs using Geomagic Touch / Phantom Omni