9.3.4. Console

C++ class is mtsIntuitiveResearchKitConsole.

9.3.4.1. General

• console/power_off

  • cisst: void command

  • ROS: subscriber std_msgs/Empty

  • dVRK specific: trigger power off sequence for the whole system.

• console/power_on

  • cisst: void command

  • ROS: subscriber std_msgs/Empty

  • dVRK specific: trigger power on sequence for the whole system. If some arms are in FAULT state, this method will first disable them.

• console/home

  • cisst: void command

  • ROS: subscriber std_msgs/Empty

  • dVRK specific: triggers homing procedure for the whole system, including powering if the system is not yet powered. Note that “homing” means findind where the arm is. It doesn’t always imply moving to the zero position.

• console/camera

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the console assumes it should tele-operate the ECM if all conditions are met: operator is present and tele-operation is enabled. When in camera mode, the console disables the PSM tele-operation components (if any) and enables the ECM tele-operation component (if present).

• console/clutch

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the console assumes it should clutch the active tele-operation components. The console component simple passes the clutch state to the tele-operation components who then have to handle the clutch.

• console/operator_present

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the console assumes the operator is present (either through a dead man switch/foot pedal, head sensor or emulated).

• console/emulate_camera

  • cisst: write command prmEventButton

  • ROS: subscriber sensor_msgs/Joy

  • dVRK specific: emulate the camera pedal press.

• console/emulate_clutch

  • cisst: write command prmEventButton

  • ROS: subscriber sensor_msgs/Joy

  • dVRK specific: emulate the clutch pedal press.

• console/emulate_operator_present

  • cisst: write command prmEventButton

  • ROS: subscriber sensor_msgs/Joy

  • dVRK specific: emulate the operator presence sensor.

9.3.4.2. Tele-operation

• console/teleop/enabled

  • cisst: event write bool

  • ROS: publisher std_msgs/Bool

  • dVRK specific: indicate if the tele-operation is enabled at the console level.

• console/teleop/enable

  • cisst: write command bool

  • ROS: subscriber std_msgs/Bool

  • dVRK specific: enable or disable the tele-operation at the console level. When tele-operation is enabled for the console, the console will manage with tele-operation components should be enabled using the following logic:

    • Tele-operation components must be declared in the console JSON configuration file: MTMR-PSM1, MTML-PSM2, MTMR-PSM3, MTML-MTMR-ECM…

    • For PSM tele-operation, the pair (e.g. MTMR-PSM1) also needs to be selected (there should be one pair per MTM selected by default when the console starts).

    • Finally the console determines which type of tele-operation component should be enabled based on the camera input:

      • If the camera input is off (i.e. camera foot pedal not pressed), the console will enable the PSM tele-operation components that have been selected.

      • If the camera input is on, the console will enable the ECM tele-operation component (if declared in the console configuration file)

    • When a tele-operation is enabled, it will perform its own logic before getting into following mode…

• console/teleop/scale

  • cisst: event write double

  • ROS: publisher std_msgs::Float64

  • dVRK specific: last scale sent to all tele-operation components. If a scale is set directly for a specific tele-operation component (i.e. not using the console tele-operation scale), said component can potentially use a different scale from the others.

• console/teleop/set_scale

  • cisst: write command double

  • ROS: subscriber std_msgs/Float64

  • dVRK specific: set the scale for all the tele-operation components declared in the console configuration file.

• console/teleop/teleop_psm_selected

  • cisst: event write prmKeyValue

  • ROS: publisher diagnostic_msgs/KeyValue

  • dVRK specific: indicate which pairs of MTM-PSMs are currently selected (PSM tele-operation components).

• console/teleop/teleop_psm_unselected

  • cisst: event write prmKeyValue

  • ROS: publisher diagnostic_msgs/KeyValue

  • dVRK specific: indicate which pairs of MTM-PSMs are currently unselected (PSM tele-operation components).

• console/teleop/cycle_teleop_psm_by_mtm

  • cisst: write command std::string

  • ROS: subscriber std_msgs/String

  • dVRK specific: cycle PSM tele-operation for a given MTM. For example, if the console has the pairs MTML-PSM2 and MTML-PSM3 and MTML-PSM2 is currently selected, using cycle_teleop_by_mtm(MTML) will unselect MTML-PSM2 and select MTML-PSM3. There is a special case hard-coded in the console code to mimic the behavior of a clinical da Vinci system. A quick-tap on the clutch pedal will trigger a cycle_teleop_psm_by_mtm for the MTM that has been used for two PSM tele-operations declared in the console configuration file.

• console/teleop/select_teleop_psm

  • cisst: write command prmKeyValue

  • ROS: subscriber diagnostic_msgs/KeyValue

  • dVRK specific: select a specific MTM-PSM tele-operation. The KeyValue message allows to send two strings, i.e. the names of the MTM and PSM for the tele-operation component to select. If the MTM is currently associated to a selected pair, said pair will first be unselected. If the second value of the message is an empty string, the command deactivates the tele-operation currently using the MTM (first value in message)

9.3.4.3. Foot pedals

• footpedals/clutch

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal clutch is released (0), pressed (1) or a quick tap happened (2).

• footpedals/camera

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal camera is released (0), pressed (1) or a quick tap happened (2).

• footpedals/cam_minus

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal camera - is released (0), pressed (1) or a quick tap happened (2).

• footpedals/cam_plus

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal camera + is released (0), pressed (1) or a quick tap happened (2).

• footpedals/bicoag

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal bicoag is released (0), pressed (1) or a quick tap happened (2).

• footpedals/coag

  • cisst: event write prmEventButton

  • ROS: publisher sensor_msgs/Joy

  • dVRK specific: indicate if the physical pedal coag is released (0), pressed (1) or a quick tap happened (2).