9.3.5. Miscellaneous

9.3.5.1. Focus controller

Using original focus controller from Intuitive Surgical.

• endoscope_focus/locked

  • cisst: event write bool

  • ROS: publisher std_msgs/Bool

  • dVRK specific.

• endoscope_focus/focusing_in

  • cisst: event write bool

  • ROS: publisher std_msgs/Bool

  • dVRK specific

• endoscope_focus/focusing_out

  • cisst: event write bool

  • ROS: publisher std_msgs/Bool

  • dVRK specific

• endoscope_focus/lock

  • cisst: command write bool

  • ROS: subscriber std_msgs/Bool

  • dVRK specific

• endoscope_focus/focus_in

  • cisst: command write bool

  • ROS: subscriber std_msgs/Bool

  • dVRK specific: start focusing in

• endoscope_focus/focus_out

  • cisst: command write bool

  • ROS: subscriber std_msgs/Bool

  • dVRK specific: start focusing out

9.3.5.2. Audio

Starting with the dVRK 1.6 we added some audio feedback for some console events (operator present, pedal pressed…). The dVRK applications rely on the sawTextToSpeech component for both text-to-speech and beeps. These commands are exposed by the ROS node under the topics:

• console/volume

  • cisst: event write double

  • ROS: publisher std_msgs/Float64

  • dVRK specific: provide the current volume for beeps generated by the console.

• console/set_volume

  • cisst: write command double

  • ROS: subscriber std_msgs/Float64

  • dVRK specific: set the console volume, value between 0 and 1.

• /console/string_to_speech

  • cisst: command write std::string

  • ROS: subscriber std_msgs/String

  • dVRK specific: expects a plain string.

• /console/beep

  • cisst: command write vctDouble3

  • ROS: subscriber std_msgs/Float64MultiArray with 3 values

  • dVRK specific: expects 3 values; duration (in seconds), frequency and volume (0 to 1). For example: data: [0.5, 3000.0, 1.0]