Merge pull request #47 from jhu-dvrk/rc-2.2

2.2.0

CHANGELOG.md

@@ -1,6 +1,24 @@
 Change log
 ==========
 
+2.2.0 (2023-11-21)
+==================
+
+* API changes:
+  * :warning: All topics `measured_cp` and `setpoint_cp` use `PoseStamped` instead of `TransformStamped`
+  * `video.md` and video launch files moved to newly created `dvrk_video` package (still part of this repository)
+* New features:
+  * Support for Si PSMs, ECM and SUJ
+  * All video related files (launch and md) moved to ROS package `dvrk_video` to avoid build dependencies on the full dVRK stack
+  * Added `vcs` files (replacing `wstool`) for dVRK 2.1, 2.2 and devel
+  * Added command line options to expose more IO and PID topics
+  * `dvrk_console_json` can locate `ros-io-<arm>.json` files using internal path, no need to specify the full path
+  * All Python examples updated to use newly introduced `crtk.ral` (ROS Abstraction Layer) and `crtk.check_connections`
+  * Added `dvrk_reset_teleoperation.py` to reposition MTMs and PSMs to better position between teleoperation tasks, very useful for user studies!
+  * `dvrk_bag_replay.py`: can now replay using `setpoint_jp` or `setpoint_cp`, fixed timing, doesn't use full `dvrk.psm` but creates a light class using `crtk.utils`, record and send joint velocities for better trajectory following
+* Bug fixes:
+  * Many
+
 2.1.0 (2021-08-10)
 ==================
 

README.md

@@ -4,7 +4,9 @@ This repository has code related to daVinci Research Kit (dVRK) ROS packages.
 See https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
 
 # Install
-We use the catkin build tools, NOT `catkin_make`.  See download and compilation instructions: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/CatkinBuild
+We use the catkin build tools, NOT catkin_make.  Please don't use catkin_make
+* Download and compile the cisst libraries and SAW components for the dVRK, see the dVRK tutorial wiki: https://github.com/jhu-cisst/cisst/wiki/Compiling-cisst-and-SAW-with-CMake#13-building-using-catkin-build-tools-for-ros
+* Download and compile dvrk-ros: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/CatkinBuild
 
 # List of Packages:
 * `dvrk_robot` **[maintained]** 

dvrk-2.1.vcs

@@ -0,0 +1,53 @@
+repositories:
+  cisst-saw/cisstNetlib:
+    type: git
+    url: https://github.com/jhu-cisst/cisstNetlib.git
+    version: 3.0.0
+  cisst-saw/cisst:
+    type: git
+    url: https://github.com/jhu-cisst/cisst.git
+    version: 1.1.0
+  cisst-saw/cisst-ros:
+    type: git
+    url: https://github.com/jhu-cisst/cisst-ros.git
+    version: 2.0.0
+  cisst-saw/sawKeyboard:
+    type: git
+    url: https://github.com/jhu-saw/sawKeyboard.git
+    version: 1.3.0
+  cisst-saw/sawTextToSpeech:
+    type: git
+    url: https://github.com/jhu-saw/sawTextToSpeech.git
+    version: 1.3.0
+  cisst-saw/sawRobotIO1394:
+    type: git
+    url: https://github.com/jhu-saw/sawRobotIO1394.git
+    version: 2.1.0
+  cisst-saw/sawControllers:
+    type: git
+    url: https://github.com/jhu-saw/sawControllers.git
+    version: 2.0.0
+  cisst-saw/sawIntuitiveResearchKit:
+    type: git
+    url: https://github.com/jhu-dvrk/sawIntuitiveResearchKit.git
+    version: 2.1.0
+  crtk/crtk_msgs:
+    type: git
+    url: https://github.com/collaborative-robotics/crtk_msgs.git
+    version: 1.0.0
+  crtk/crtk_python_client:
+    type: git
+    url: https://github.com/collaborative-robotics/crtk_python_client.git
+    version: 1.1.0
+  crtk/crtk_matlab_client:
+    type: git
+    url: https://github.com/collaborative-robotics/crtk_matlab_client.git
+    version: 1.1.0
+  dvrk/dvrk-ros:
+    type: git
+    url: https://github.com/jhu-dvrk/dvrk-ros.git
+    version: 2.1.0
+  dvrk/dvrk-gravity-compensation:
+    type: git
+    url: https://github.com/jhu-dvrk/dvrk-gravity-compensation.git
+    version: 2.0.0

dvrk-2.2.vcs

@@ -0,0 +1,61 @@
+repositories:
+  cisst-saw/cisstNetlib:
+    type: git
+    url: https://github.com/jhu-cisst/cisstNetlib.git
+    version: 3.1.0
+  cisst-saw/cisst:
+    type: git
+    url: https://github.com/jhu-cisst/cisst.git
+    version: 1.2.0
+  cisst-saw/cisst-ros:
+    type: git
+    url: https://github.com/jhu-cisst/cisst-ros.git
+    version: 2.1.0
+  cisst-saw/sawKeyboard:
+    type: git
+    url: https://github.com/jhu-saw/sawKeyboard.git
+    version: 1.4.0
+  cisst-saw/sawTextToSpeech:
+    type: git
+    url: https://github.com/jhu-saw/sawTextToSpeech.git
+    version: 1.4.0
+  cisst-saw/sawRobotIO1394:
+    type: git
+    url: https://github.com/jhu-saw/sawRobotIO1394.git
+    version: 2.2.0
+  cisst-saw/sawControllers:
+    type: git
+    url: https://github.com/jhu-saw/sawControllers.git
+    version: 2.1.0
+  cisst-saw/sawIntuitiveResearchKit:
+    type: git
+    url: https://github.com/jhu-dvrk/sawIntuitiveResearchKit.git
+    version: 2.2.0
+  crtk/crtk_msgs:
+    type: git
+    url: https://github.com/collaborative-robotics/crtk_msgs.git
+    version: 1.1.0
+  crtk/crtk_python_client:
+    type: git
+    url: https://github.com/collaborative-robotics/crtk_python_client.git
+    version: 1.2.0
+  crtk/crtk_matlab_client:
+    type: git
+    url: https://github.com/collaborative-robotics/crtk_matlab_client.git
+    version: 1.2.0
+  dvrk/dvrk-ros:
+    type: git
+    url: https://github.com/jhu-dvrk/dvrk-ros.git
+    version: 2.2.0
+  dvrk/dvrk-gravity-compensation:
+    type: git
+    url: https://github.com/jhu-dvrk/dvrk-gravity-compensation.git
+    version: 2.0.0
+  dvrk/dvrk_config_jhu:
+    type: git
+    url: https://github.com/jhu-dvrk/dvrk_config_jhu.git
+    version: 2.2.0
+  dvrk/dESSJ-firmware:
+    type: git
+    url: https://github.com/jhu-dvrk/dESSJ-firmware.git
+    version: 1.0.0

dvrk-devel.vcs

@@ -0,0 +1,61 @@
+repositories:
+  cisst-saw/cisstNetlib:
+    type: git
+    url: https://github.com/jhu-cisst/cisstNetlib.git
+    version: devel
+  cisst-saw/cisst:
+    type: git
+    url: https://github.com/jhu-cisst/cisst.git
+    version: devel
+  cisst-saw/cisst-ros:
+    type: git
+    url: https://github.com/jhu-cisst/cisst-ros.git
+    version: devel
+  cisst-saw/sawKeyboard:
+    type: git
+    url: https://github.com/jhu-saw/sawKeyboard.git
+    version: devel
+  cisst-saw/sawTextToSpeech:
+    type: git
+    url: https://github.com/jhu-saw/sawTextToSpeech.git
+    version: devel
+  cisst-saw/sawRobotIO1394:
+    type: git
+    url: https://github.com/jhu-saw/sawRobotIO1394.git
+    version: devel
+  cisst-saw/sawControllers:
+    type: git
+    url: https://github.com/jhu-saw/sawControllers.git
+    version: devel
+  cisst-saw/sawIntuitiveResearchKit:
+    type: git
+    url: https://github.com/jhu-dvrk/sawIntuitiveResearchKit.git
+    version: devel
+  crtk/crtk_msgs:
+    type: git
+    url: https://github.com/collaborative-robotics/crtk_msgs.git
+    version: devel
+  crtk/crtk_python_client:
+    type: git
+    url: https://github.com/collaborative-robotics/crtk_python_client.git
+    version: devel
+  crtk/crtk_matlab_client:
+    type: git
+    url: https://github.com/collaborative-robotics/crtk_matlab_client.git
+    version: devel
+  dvrk/dvrk-ros:
+    type: git
+    url: https://github.com/jhu-dvrk/dvrk-ros.git
+    version: devel
+  dvrk/dvrk-gravity-compensation:
+    type: git
+    url: https://github.com/jhu-dvrk/dvrk-gravity-compensation.git
+    version: devel
+  dvrk/dvrk_config_jhu:
+    type: git
+    url: https://github.com/jhu-dvrk/dvrk_config_jhu.git
+    version: devel
+  dvrk/dESSJ-firmware:
+    type: git
+    url: https://github.com/jhu-dvrk/dESSJ-firmware.git
+    version: devel

dvrk_arms_from_ros/components/CMakeLists.txt

@@ -1,5 +1,5 @@
 #
-# (C) Copyright 2020-2021 Johns Hopkins University (JHU), All Rights Reserved.
+# (C) Copyright 2020-2023 Johns Hopkins University (JHU), All Rights Reserved.
 #
 # --- begin cisst license - do not edit ---
 #
@@ -15,7 +15,7 @@ set (CMAKE_CXX_STANDARD 14)
 set (CMAKE_CXX_STANDARD_REQUIRED ON)
 set (CMAKE_CXX_EXTENSIONS OFF)
 
-project (dvrk_arms_from_ros)
+project (dvrk_arms_from_ros VERSION 2.2.0)
 
 ## find catkin macros and libraries
 ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
@@ -38,7 +38,7 @@ set (REQUIRED_CISST_LIBRARIES
      cisstParameterTypes
      )
 
-find_package (cisst 1.1.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
+find_package (cisst 1.2.0 REQUIRED ${REQUIRED_CISST_LIBRARIES})
 
 if (cisst_FOUND_AS_REQUIRED)
 

dvrk_arms_from_ros/components/include/dvrk_arm_from_ros.h

@@ -5,7 +5,7 @@
   Author(s):  Anton Deguet
   Created on: 2020-01-13
 
-  (C) Copyright 2020 Johns Hopkins University (JHU), All Rights Reserved.
+  (C) Copyright 2020-2021 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -19,16 +19,18 @@ no warranty.  The complete license can be found in license.txt and
 #ifndef _dvrk_arm_from_ros_h
 #define _dvrk_arm_from_ros_h
 
-#include <cisst_ros_bridge/mtsROSBridge.h>
+#include <cisst_ros_crtk/mts_ros_crtk_bridge_required.h>
 
-class dvrk_arm_from_ros: public mtsROSBridge
+class dvrk_arm_from_ros: public mts_ros_crtk_bridge_required
 {
     CMN_DECLARE_SERVICES(CMN_DYNAMIC_CREATION_ONEARG, CMN_LOG_ALLOW_DEFAULT);
 
 public:
     typedef mtsROSBridge BaseType;
 
-    dvrk_arm_from_ros(const std::string & componentName, const double periodInSeconds);
+    dvrk_arm_from_ros(const std::string & componentName,
+                      ros::NodeHandle * _node_handle,
+                      const double periodInSeconds);
     dvrk_arm_from_ros(const mtsTaskPeriodicConstructorArg & arg);
     ~dvrk_arm_from_ros(){}
 

dvrk_arms_from_ros/components/include/dvrk_psm_from_ros.h

@@ -5,7 +5,7 @@
   Author(s):  Anton Deguet
   Created on: 2020-01-13
 
-  (C) Copyright 2020 Johns Hopkins University (JHU), All Rights Reserved.
+  (C) Copyright 2020-2021 Johns Hopkins University (JHU), All Rights Reserved.
 
 --- begin cisst license - do not edit ---
 
@@ -28,7 +28,9 @@ class dvrk_psm_from_ros: public dvrk_arm_from_ros
 public:
     typedef mtsROSBridge BaseType;
 
-    dvrk_psm_from_ros(const std::string & componentName, const double periodInSeconds);
+    dvrk_psm_from_ros(const std::string & componentName,
+                      ros::NodeHandle * _node_handle,
+                      const double periodInSeconds);
     dvrk_psm_from_ros(const mtsTaskPeriodicConstructorArg & arg);
     ~dvrk_psm_from_ros() {}
 

dvrk_arms_from_ros/components/package.xml

@@ -1,6 +1,6 @@
 <package>
   <name>dvrk_arms_from_ros</name>
-  <version>2.1.0</version>
+  <version>2.2.0</version>
   <description>
   sawIntuitiveResearchKit compatible arm from ROS topics
   </description>