2.0.0

2.0.0 (2021-04-08)

• API changes:
  • All ROS topics have change to follow the CRTK naming convention, see CHANGELOG for sawIntuitiveResearchKit
  • ROS namespaces don't use the prefix dvrk. Use the standard ROS option __ns:= if you need a specific namespace
• Deprecated features:
  • None
• New features:
  • Added .rosinstall file
  • Using Matlab and Python client based on CRTK clients - APIs are now consistent across languages
  • Matlab python now used +dvrk to create dVRK package (see https://github.com/collaborative-robotics/crtk_matlab_client)
  • ROS bridge uses cisst-ros CRTK bridge for most ROS topics
  • Added dvrk_hsrv_widget, a simple widget that can be displayed in surgeon's console to show dVRK status
  • Added experimental script to calibrate PSM joint 3 (inserttion joint): dvrk_calibrate_potentiometer_psm.py
  • Added dvrk_arm_from_ros which allows to create a dVRK console with a remote arm over ROS. This can be used for tele-operation across network
  • More topics exposed, endoscope focus, volume, beep, text to speech, forward kinematic... See full API: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/API-2.x
• Bug fixes:
  • Better ROS shutdown for C++ applications
  • Support ctrl-c for Python code
  • Plenty