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dVRK support #7

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LauraConnolly opened this issue Sep 19, 2022 · 1 comment
Open

dVRK support #7

LauraConnolly opened this issue Sep 19, 2022 · 1 comment

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@LauraConnolly
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@LauraConnolly
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LauraConnolly commented Sep 19, 2022 •
edited by adeguet1
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  • Add launch files for multiple arms
  • Add ros_control to provide a MoveIt! compatible interface
  • Start with plain joint position trajectories that can (will) be coming from MoveIt.
  • Also, need to have a MoveIt package for the dVRK: how many PSM go in there and how to deal with setup joints? These could be use as virtual joints but unsure if these can be adjusted or MoveIt assume they are static.
  • How do we deal with various instruments?
  • Need to use cautery tool.

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@LauraConnolly