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7.4.1. Overview

Example

The main configuration file for the dVRK is the system configuration (system-abc-xyz.json). It is used to list all the elements of the kit one wants to use for a given application. For example, one could use a single arm (e.g. PSM1) and ignore all the other components. Alternatively, it is possible to use all the arms, teleoperation software components, ROS and OpenIGTL bridges and more in a single application.

In the early days of the dVRK, users had to write and compile their own C++ main to combine all the components based on their needs. This was rather tedious so we introduced the system configuration file. When loaded by the dVRK applications (either sawIntuititiveResearchKitSystem or the ROS node dvrk_system), this file is used to:

• set the communication port(s) and parameters

• dynamically create and connect all the software components (IO, PID, arm, teleoperation)

• identify the correct configuration files for each software component

• create the widgets corresponding to the components used

• add the ROS topics based on the configuration

For example, given the following configuration file:

{
  "IOs":
   [
     {
       "name": "IO1",
       "port": "fw",
       "protocol": "broadcast-query-read-write"
     }
   ]
   ,
   "arms":
   [
     {
       "name": "PSM1",
       "type": "PSM",
       "IO": "IO1",
       "serial": "28007"
     }
   ]
 }

The dVRK system application will:

• create the IO component IO1 to communicate with dVRK controllers over FireWire (fw) and configure it to use the fastest protocol available (broadcast-query-read-write)

• create all the components for a PSM arm (type), including:

  • configuring the IO IO1 with the arm’s IO configuration file sawRobotIO1394-PSM1-28007 based on the arm’s name and serial number

  • create and configure a PID component using the file pid/-sawControllersPID-PSM.json based on the arm’s type.

  • create an arm components and configure it using the arm specific configuration file PSM1-28007 using the arm’s name and serial number

  • the Qt widgets for the system, IO, PID and arm’s components

  • the ROS bridge (topics, tf2, services…) for the arm

For a full system with 2 MTMs, setup joints, 3 PSMs, an ECM, foot pedals, head sensor, focus controller, teleoperation… the dVRK application will create, configure and connect tens of components. The system configuration file, while a bit complex, greatly simplify the process.

The system configuration file main sections are:

• IOs used to identify and configure one or more IO ports

• arms used to declare and configure arms used in the system. Native arms will have to refer to IOs declared in the first section

• consoles used to define one or more surgeon’s consoles, i.e. which signals to use for the clutch and camera pedals as well as the sensor to detect operator presence. Each console also includes two lists of teleoperation components to be created. Each teleoperation component will refer to arms created in the arms section.

Schema based documentation