Components APIs

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Introduction
Console
- Commands
- Feedback

Introduction

Each component of the dVRK described in the software architecture provides a set of functionalities, i.e. commands for a cisstMultiTask component or topic for a ROS node (see dvrk_ros/dvrk_robot).

In general, we try to expose most C++ commands and events as ROS topics. The latest mapping can be found in dvrk_add_topics_functions.

Console

The following commands and feedback are available for the console component (see class mtsIntuitiveResearchKitConsole):

Commands

v 1.4+: PowerOff. This void command will send a power off request to all arms. There is no feedback confirming that any or all arms where successfully powered off.
ROS subscriber: /dvrk/console/power_off: std_msgs::Empty
v 1.4+: Home. This void command will turn off power, turn it back on and then perform homing. The first homing will calibrate the encoders based on potentiometers and joint limits (last joint on MTMs). Later calls will skip the encoder calibration. There is no feedback confirming that all arms are successfully homed.
ROS subscriber: /dvrk/console/home: std_msgs::Empty
v 1.4+: TeleopEnable. This write command sends an enable/disable request to all teleoperation components (either for PSMs or ECM) known to the console. There is no feedback confirming that any or all teleoperation components were properly enabled or disabled.
ROS subscriber: /dvrk/console/teleop/enable: std_msgs::Bool
v 1.4+: SetScale. This write command sends a request to set the teleoperation scale to all teleoperation components (either for PSMs or ECM) known to the console.
ROS subscriber: /dvrk/console/teleop/set_scale: std_msgs::Float32

Feedback

v 1.4+: Scale. This write event indicates that a request to change the scale has been sent to all teleoperation components (either for PSMs or ECM) known to the console. This event is not triggered if the scale of a single teleoperation component is changed, i.e. one can change the MTMR-PSM1 scale only. In the case, the MTMR-PSM1 component will trigger it's own event but the console is not changing the overall scale.
ROS publisher: /dvrk/console/teleop/scale: std_msgs::Float32

Foot pedals

Feedback

The following feedback is available for the foot pedals:

v 1.3+: Clutch. This write event indicates that the "clutch" pedal has been pressed. The C++ payload is prmEventButton. The name of the event is defined in the sawRobotIO1394 XML configuration file.
ROS publisher: /dvrk/footpedals/clutch: v 1.3 std_msgs::Bool, V 1.4+ sensor_msgs::Joy.
v 1.3+: Coag. This write event indicates that the "coag" pedal has been pressed. On some systems this pedal is labeled "mono". The C++ payload is prmEventButton. The name of the event is defined in the sawRobotIO1394 XML configuration file.
ROS publisher: /dvrk/footpedals/coag: v 1.3 std_msgs::Bool, V 1.4+ sensor_msgs::Joy.
v 1.3+: Camera. This write event indicates that the "camera" pedal has been pressed. The C++ payload is prmEventButton. The name of the event is defined in the sawRobotIO1394 XML configuration file.
ROS publisher: /dvrk/footpedals/camera: v 1.3 std_msgs::Bool, V 1.4+ sensor_msgs::Joy.
v 1.3+: Cam+. This write event indicates that the camera focus "+" pedal has been pressed. The C++ payload is prmEventButton. The name of the event is defined in the sawRobotIO1394 XML configuration file.
ROS publisher: /dvrk/footpedals/camera_plus: v 1.3 std_msgs::Bool, V 1.4+ sensor_msgs::Joy.
v 1.3+: Cam-. This write event indicates that the camera focus "-" pedal has been pressed. The C++ payload is prmEventButton. The name of the event is defined in the sawRobotIO1394 XML configuration file.
ROS publisher: /dvrk/footpedals/camera_minus: v 1.3 std_msgs::Bool, V 1.4+ sensor_msgs::Joy.