5. Software

The latest dVRK software version is 2.5.0. The recommended FPGA firmware version is v10. These versions are backward compatible with all dVRK controllers.

• 5.1. Compilation
  • 5.1.1. Repositories
  • 5.1.2. ROS 2
    • 5.1.2.1. Ubuntu packages
    • 5.1.2.2. Colcon workspace, clone and build
    • 5.1.2.3. Testing
      • Environment variables
      • Examples
      • Notes
  • 5.1.3. ROS 1
    • 5.1.3.1. Ubuntu packages
    • 5.1.3.2. Catkin workspace, clone and build
    • 5.1.3.3. Testing
      • Environment variables
      • Examples
      • Notes
  • 5.1.4. CMake
    • 5.1.4.1. Introduction
    • 5.1.4.2. Dependencies
    • 5.1.4.3. Getting the code
    • 5.1.4.4. Compilation
    • 5.1.4.5. Environment variables
    • 5.1.4.6. Screenshots
• 5.2. dVRK system
  • 5.2.1. Amp1394
    • 5.2.1.1. Overview
    • 5.2.1.2. Links
  • 5.2.2. Components
    • 5.2.2.1. Introduction
    • 5.2.2.2. Threads
    • 5.2.2.3. Widgets
      • General information
      • Generic widgets
        • Timing
        • Messages
        • 3D pose
        • Wrench
        • 2D plot
      • Customization
    • 5.2.2.4. Low level IOs
      • Functionalities
      • Configuration files
      • Applications
      • Widgets
    • 5.2.2.5. PID
      • Functionalities
      • Configuration files
      • Applications
      • Widgets
    • 5.2.2.6. Arms
    • 5.2.2.7. SUJ
    • 5.2.2.8. PSM teleoperation
      • Introduction
      • Behavior
      • States
      • Rotation offset
      • Gripper and jaws
      • Cartesian velocity
      • Main limitations
      • Code
      • API
    • 5.2.2.9. ECM teleoperation
      • Introduction
      • Behavior
      • Implementation
      • Main limitations
      • Code
      • API
    • 5.2.2.10. System
    • 5.2.2.11. Console
  • 5.2.3. Bridges
    • 5.2.3.1. ROS
    • 5.2.3.2. sawSocketStreamer
    • 5.2.3.3. sawOpenIGTLink
• 5.3. Video and data
  • 5.3.1. Architecture and design choices
    • 5.3.1.1. The Teleoperation Latency Challenge
    • 5.3.1.2. Separation of video data and control data
  • 5.3.2. System topology and data flow
  • 5.3.3. The @dvrk socket convention
  • 5.3.4. Timing and synchronization
  • 5.3.5. Documentation structure
    • 5.3.5.1. dvrk_data
      • Video data
      • Data collection tools
        • Video data architecture
          • Processes and data flow
            • stereo_source
            • stereo_alignment
          • Why video is not transported as ROS images
          • Socket names and discovery
          • Bridging a socket to ROS images
          • Stereo calibration
          • Creating GStreamer dot files
        • Video configuration
          • Stereo source
          • Stereo alignment
          • Schema authority
        • Video timestamps
          • CPU realtime observations
          • GStreamer timing
          • Annotation timestamp
          • Recording and extraction
        • Data collection workflow
        • Record
          • Configuration
            • Configuration composition
            • ROS topic timing
          • Operation and stages
          • Session output
        • Extract
          • Options
          • How frames are correlated
        • Video latency calibration
          • Procedure
        • Tagging and curation
          • Encord conversion
    • 5.3.5.2. dvrk_console
      • Stereo display and calibration
        • Options
        • Rendering and display topologies
        • The Cairo Head-Up Display (HUD) engine
          • Event loop and thread integration
          • HUD components and telemetry
        • Picture-in-picture (PiP) and augmented reality (AR)
          • Picture-in-Picture (PiP)
          • Augmented Reality (AR) blending
        • Camera alignment versus display calibration
        • Launching the complete video path
      • Stereo display configuration
        • Top-level fields
        • Example outputs and picture-in-picture
        • AR configuration
      • Control panel
        • Starting the panel
        • Operator functions
        • Configuration
        • Persisted user settings
        • Video preview
        • Touchscreen support
• 5.4. Simulators
  • 5.4.1. Choosing a backend
  • 5.4.2. Shared runtime and ROS interfaces
    • 5.4.2.1. CRTK topics and command behavior
    • 5.4.2.2. Cartesian reference frames
    • 5.4.2.3. Monitoring
  • 5.4.3. Configuration and scene composition
    • 5.4.3.1. Common runtime fields
    • 5.4.3.2. Launch arguments
    • 5.4.3.3. Scenes and exercises
  • 5.4.4. dvrk_simulator_base
    • 5.4.4.1. Patient-cart frames
    • 5.4.4.2. System startup
  • 5.4.5. dvrk_pybullet
    • 5.4.5.1. Setup and launch
    • 5.4.5.2. Backend settings and video
  • 5.4.6. dvrk_newton
    • 5.4.6.1. Setup and launch
    • 5.4.6.2. Backend settings and grasping
  • 5.4.7. dvrk_isaac_sim
    • 5.4.7.1. Setup and launch
    • 5.4.7.2. Backend settings and video
  • 5.4.8. OpenXR and patient-cart sessions
• 5.5. Applications
  • 5.5.1. System
    • 5.5.1.1. Overview
    • 5.5.1.2. Command line options
      • Shared options
      • ROS extra options
    • 5.5.1.3. Configuration file
    • 5.5.1.4. Dynamic components
  • 5.5.2. Video and data
    • 5.5.2.1. Live pipeline and display
      • stereo_video_pipeline.launch.py
      • control_panel
      • stereo_display
      • stereo_source
      • stereo_alignment
    • 5.5.2.2. Data collection, annotation and extraction
      • record
      • video_tag
      • extract
    • 5.5.2.3. Calibration and utilities
      • video_latency
      • stereo_alignment_calibration
      • stereo_display_calibration
      • gscam_socket
  • 5.5.3. Debugging
    • 5.5.3.1. qladisp
    • 5.5.3.2. sawRobotIOQtConsole
    • 5.5.3.3. sawIntuitiveResearchKitPID
  • 5.5.4. Calibration
    • 5.5.4.1. sawRobotIO1394CurrentCalibration
    • 5.5.4.2. dvrk_calibrate_potentiometers.py
    • 5.5.4.3. dvrk_calibrate_potentiometer_psm.py
    • 5.5.4.4. sawIntuitiveResearchKitGripperCalibration
    • 5.5.4.5. sawIntuitiveResearchKitSiPotentiometersCalibration
    • 5.5.4.6. dvrk_calibrate_suj.py
    • 5.5.4.7. dvrk_camera_registration.py
  • 5.5.5. Utilities
    • 5.5.5.1. qlacommand
    • 5.5.5.2. dvrk-io-config-generator.py
    • 5.5.5.3. dvrk-system-config-wizard
    • 5.5.5.4. dvrk-remove-logs.py
    • 5.5.5.5. dvrk_reset_teleoperation.py
    • 5.5.5.6. hrsv_widget
    • 5.5.5.7. dvrk_console stereo_display
    • 5.5.5.8. dvrk_console control_panel
    • 5.5.5.9. dvrk-sd-card-updater.py
    • 5.5.5.10. dvrk_teleoperation.py
    • 5.5.5.11. rqt_dvrk