安装irob-saf(一)

irob-saf也是另一个尝试手术自动化的套件

我后来发现,有些问题,所以写信去作者,结果作者Tamas很可爱,他居然修正一些Noetic跟python3必须更动的东西,所以修正后安装其实很顺利.

先装完ROS Noetic跟dVRK然后照着装

sudo apt install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-catkin-tools  #安装一些必须套件sudo apt install libeigen3-dev#安装source ~/catkin_ws/devel/setup.bashcd ~/catkin_ws/srcwstool merge https://raw.githubusercontent.com/ABC-iRobotics/irob-saf/master/irob-saf/irob_saf.rosinstall   # or replace "master" with the corresponding branchwstool upcd ~/catkin_wscatkin build irob-safecho "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc #设定环境变数source ~/.bashrc

然后执行

roslaunch dvrk_robot dvrk_arm_rviz.launch arm:=PSM1 config:=/home/$(whoami)/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share/console/console-PSM1_KIN_SIMULATED.json

他会呼叫出dVRK,然后去dVRK那按HOME(这是作者截图画面,我们没有dVRK硬体,所有手臂应该都是Disable)

然后再开一个终端机(后面每个node都要开一个终端机),接着执行

roslaunch irob_vision_support dummy_target.launch 

然后去RViz左下Add,选By topic, 把这/saf/vision/dummy_target_marker展开候选marker,再OK,就可以看到手臂前端有个小小绿色亮点

然后依序开终端机执行,并且重複上面,在RViz左下Add->by Topic->选完按OK

roslaunch irob_vision_support dummy_vision.launch 

roslaunch irob_robot dvrk_server.launch arm_typ:=PSM1 camera_registration_file:=registration_identity.yaml instrument_info_file:=large_needle_driver.yaml   #从这以下,因为没有硬体,所以其实有问题

roslaunch irob_motion surgeme_server.launch

roslaunch irob_subtask_logic dummy_grasp.launch 

后面这3个有问题的指令,等我询问作者后,在跟各位回报...