[WIP] Dvrk

[ahundt]

We should probably merge this before it gets too stale.

@bcjiang can you help with this?

[bcjiang]

@ahundt Yeah no problem, I can work on it tomorrow.

[cpaxton]

That would be awesome Baichuan. Are we still using indigo for the old system though? Best, Chris

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________________________________ From: Baichuan Jiang <notifications@github.com> Sent: Saturday, May 12, 2018 10:09:18 PM To: cpaxton/costar_stack Cc: Subscribed Subject: Re: [cpaxton/costar_stack] Dvrk (#128) @ahundt<https://github.com/ahundt> Yeah no problem, I can work on it tomorrow. — You are receiving this because you are subscribed to this thread. Reply to this email directly, view it on GitHub<#128 (comment)>, or mute the thread<https://github.com/notifications/unsubscribe-auth/ADImZ-AF5sQvZDco9detMzHmyMZMhtbrks5tx5XOgaJpZM4T8kGu>.

[bcjiang]

On the dVRK machine it's 16.04 + Kinetic. Is the master branch using Indigo?

[bcjiang]

Hi, I tried to get the code running again but there are some errors. I talked to Anton and he told me that there might be a firmware change on dVRK. I can try the latest dVRK release which hopefully will come out this Wednesday. Just want to be sure everything works before merging.

I think I need to include some customized dVRK files to this branch and also a README to instruct the new users (and me, before I forget..) to deploy things on dVRK. I will try to finish this PR by next week.

[ahundt]

Cool thanks!

Be sure to check for dvrk vs not dvrk mode in shared code so it doesn't break the UR5/iiwa backends. particularly files like instructor_view.py code and costar_arm.py, plus any DVRK specific options should be optional.

In other particular CISST should not be required for the UR5 installation since it is such a huge messy pile of libraries.

Does that sound ok?

[ahundt]

Master branch should (hopefully) be able to run on both indigo + kinetic bc I got kinetic working a while ago on my workstation. Although the kinetic install sh script isn't there so who knows.

[bcjiang]

Hey I just got the system working on the lastest dvrk release, now I'm trying to merge with master branch and resolve the conflicts. I don't think there is much modification on instructor_view or costar_arm -- most of the changes are for debugging purpose, the dvrk part should work with some stand alone files. A few changes may require some work but I will start resolving them tomorrow (and see if any later changes in costar would cause any problem). CISST is not required for compiling the dvrk code in costar, so I think it would not be a problem.

[ahundt]

Cool thanks! (to the others watching this thread we also discussed this a bit in person)