10.5.1. Introduction

Each component of the dVRK described in the software architecture provides a set of functionalities, i.e. commands/events for a cisstMultiTask component or topics/services for a ROS node (see ROS bridges)

In general, we try to expose most C++ commands and events as ROS topics or services under the same name. Starting with the dVRK release 2.0, we are using the CRTK naming convention. There are also some commands very specific to the dVRK not covered by CRTK. ROS bridge for the dVRK specific commands can be found in dvrk_system.cpp (https://github.com/jhu-dvrk/sawIntuitiveResearchKit/blob/main/ros/dvrk_robot/src/dvrk_system.cpp)

For the CRTK commands, the cisst to ROS CRTK bridge (https://github.com/jhu-cisst/cisst-ros/tree/main/cisst_ros_crtk) is used.

If you are migrating your cisstMultiTask or ROS code from the dVRK 1.7, you can find some porting information in the directory crtk-port (https://github.com/jhu-dvrk/sawIntuitiveResearchKit/tree/main/crtk-port).