Skip to content

2.3.0

Latest
Latest
Compare
Choose a tag to compare
@adeguet1 adeguet1 released this 31 Aug 15:00
2.3.0
91a937f
This commit was created on GitHub.com and signed with GitHub’s verified signature.
GPG key ID: B5690EEEBB952194
Learn about vigilant mode.

2.3.0 (2024-08-30)

  • API changes:
    • Supports firmware 9
    • Reorganized files so C++ based ROS nodes are included in this repository and can be compiled for both ROS1 and ROS2. components and examples are now under core. The directory ros contains all the ROS dependent applications (i.e. dvrk_robot, dvrk_arms_from_ros, dvrk_hrsv_widget)
    • The old dvrk-ros repository, specific to ROS1 has been spit in multiple repositories: dvrk_python, dvrk_video, dvrk_model... All the new repositories are compatible with ROS1 and ROS2
  • Deprecated features:
    • None
  • New features:
    • Support for Goovis HMD (https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Goovis)
    • Control Si LEDs
    • Basic gravity compensation for ECM Si (only applies to endoscope weight)
    • PID files use strings for joint types
    • Shared files:
      • Added instruments 400230, 410298, 420230 and 420327
    • New consoles simulated for surgeon console and patient cart (Classic and Si)
  • Bug fixes:
    • Faster jaw velocity in teleoperation
    • #203 coupling matrix for FIXED instrument type
    • SUJSi can be used without all 5 dESSJ (bluetooth)
Assets 2
Loading