1. Introduction
2. Components of the kit
3. Hardware setup
4. Firmware
5. Software
6. Connectivity
7. Configuration files
8. Calibration
9. Usage
10. Development
10.1. Options
10.2. Middleware
10.3. cisst/SAW components
10.4. Coordinate systems
10.5. API
10.6. ROS client libraries
11. Video
12. Troubleshooting
13. References
dVRK
10.
Development
Edit on GitHub
10.
Development
10.1. Options
10.2. Middleware
10.2.1. ROS
10.2.1.1. Pros
10.2.1.2. Cons
10.2.1.3. Notes
10.2.2. Sockets (JSON), OpenIGTLink
10.2.2.1. Sockets with JSON
10.2.2.2. OpenIGTLink
10.3. cisst/SAW components
10.3.1. Introduction
10.3.2. Plugins
10.3.2.1. Alternative hardware
10.3.3. ROS component
10.3.4. Bridges
10.3.5. Embedded Python interpreter
10.3.6. Collectors
10.3.6.1. Introduction
10.3.6.2. Configuration
10.3.6.3. Output
10.3.6.4. Control
10.3.6.5. Drawbacks
10.3.7. Custom components
10.3.7.1. Derived components
10.3.7.2. Writing your own
10.4. Coordinate systems
10.4.1. Introduction
10.4.2. Single arm
10.4.2.1. Surgeon’s side
10.4.2.2. Patient’s side
10.4.3. SUJ
10.4.3.1. Overview
10.4.3.2. Intuitive SUJ
10.4.3.3. SUJ Fixed
10.5. API
10.5.1. Introduction
10.5.2. Arms
10.5.2.1. All
Operating state
Motion queries
Motion commands
Configuration
10.5.2.2. ECM
10.5.2.3. MTM
10.5.2.4. PSM
10.5.3. System
10.5.3.1. General
10.5.3.2. Per console
10.5.3.3. Foot pedals
10.5.4. Teleoperation
10.5.4.1. PSM
10.5.4.2. ECM
10.5.5. Miscellaneous
10.5.5.1. Collectors
10.5.5.2. Focus controller
10.5.5.3. Audio
10.6. ROS client libraries
10.6.1. Python
10.6.1.1. Introduction
10.6.1.2. Usage
10.6.1.3. Performance
10.6.2. Matlab
10.6.2.1. dVRK client
10.6.2.2. CRTK base classes
10.6.2.3. Examples