5.3.2. Debugging

5.3.2.1. qladisp

• C++ application with a text based interface using ncurse

• Compatible with all dVRK controllers

• https://github.com/jhu-cisst/mechatronics-software/tree/main/tests/

Note

It can be compiled without cisst/SAW, ROS and the full dVRK stack using CMake instead of catkin or colcon.

qladisp documentation goes here

5.3.2.2. sawRobotIOQtConsole

• C+ application with a Qt based GUI, it depends on cisst/SAW

• Compatible with all dVRK controllers

• https://github.com/jhu-saw/sawRobotIO1394/tree/main/core/applications/Qt

Used for Classic ECM and Si ECM/PSMs current brake calibration with direct control.

Also robot_io robot_io_console for ROS topics. Can be used to create your own application directly on top of IO component.

5.3.2.3. sawIntuitiveResearchKitPID

• C+ application with a Qt based GUI, it depends on cisst/SAW

• Compatible with all dVRK active arm controllers (not SUJ)

• https://github.com/jhu-dvrk/sawIntuitiveResearchKit/tree/main/core/applications

Can be used to tune PID without any other component running. No built-in homing procedure sos user have to use direct control in IO widget to preload the encoders if they want absolute positions.