10.5.5. Miscellaneous

10.5.5.1. Collectors

See also cisstMultiTask state collectors.

• collectors/start

  • cisst: command write double

  • ROS: subscriber std_msgs/Float64

  • dVRK specific. Start data collection in delay seconds. To start now, send 0 as delay.

• collectors/stop

  • cisst: command write double

  • ROS: subscriber std_msgs/Float64

  • dVRK specific. Stop data collection in delay seconds. To stop now, send 0 as delay.

• collectors/set_working_directory

  • cisst: command write std::string

  • ROS: subscriber std_msgs/String

  • dVRK specific. Set the directory to save data collection files.

• collectors/set_output_to_default

  • cisst: command void

  • ROS: subscriber std_msgs/Empty

  • dVRK specific. Reset the file names for data collection. Stop followed by start doesn’t change the file used for data collection. To create a new file, you need to use set_output_to_default. It this method is called while data collection is ongoing, the collectors will automatically stop, save the remaining data in the current file, open a new file and restart the collection.

• collectors/started

  • cisst: event write bool

  • ROS: publisher std_msgs/Bool

  • dVRK specific. Each collector will emit an event when started (payload is true) or stopped (false). If you have n state table collectors configured, you should get n events when the collection starts or stops.

• collectors/progress

  • cisst: event write size_t

  • ROS: publisher std_msgs/UInt64

  • dVRK specific. Each collector will emit an event when a batch of data is being saved to a file. The event includes the number of rows (i.e. time indices) saved. If you have a single state collector working on a component running at 1KHz with a sampling equal to 1, the sum of the progress event’s payload should be close to 1000 per second.

10.5.5.2. 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

10.5.5.3. Audio

Starting with the dVRK 1.6 we added some audio feedback for some system 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:

• system/volume

  • cisst: event write double

  • ROS: publisher std_msgs/Float64

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

• system/set_volume

  • cisst: write command double

  • ROS: subscriber std_msgs/Float64

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

• system/string_to_speech

  • cisst: command write std::string

  • ROS: subscriber std_msgs/String

  • dVRK specific: expects a plain string.

• system/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]