[WIP] Dvrk

costar_bringup/launch/config/dvrk.launch

@@ -3,12 +3,16 @@
   <group ns="costar">
     <rosparam param="home">[0.30, -1.33, -1.80, -0.27, 1.50, 1.60]</rosparam>
     <group ns="robot">
+      <!--gripper not programmed in the same way as UR5/IIWA -->
       <rosparam param="has_gripper">false</rosparam>
-      <rosparam param="has_planning_scene">false</rosparam>
       <rosparam param="dof">6</rosparam>
+      <rosparam param="joint_weights">[1.0, 1.0, 1.0, 1.0, 1.0, 1.0]</rosparam>
+      <rosparam param="translation_weight">1.0</rosparam>
+      <rosparam param="rotation_weight">1.0</rosparam>
       <rosparam param="base_link">PSM1_psm_base_link</rosparam>
       <rosparam param="end_link">PSM1_tool_tip_link_virtual</rosparam>
       <rosparam param="table_frame">table_center</rosparam>
+      <rosparam param="has_planning_scene">false</rosparam>
     </group>
     <group ns="smartmove">
       <rosparam param="available_objects">

costar_bringup/launch/dvrk_psm.launch

@@ -19,4 +19,7 @@
   <!-- Interactive Marker -->
   <node name="instructor_marker" pkg="costar_robot_manager" type="instructor_marker.py"/>
 
+  <!-- Gripper -->
+  <node name= "simple_psm_gripper" pkg="gripper_dvrk" type="psm_gripper.py" />
+
 </launch>

costar_bringup/launch/dvrk_real.launch

@@ -0,0 +1,25 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- dvrk bringup -->
+  <arg name="arm" default="PSM1"/>
+  <arg name="cisst_root" default="$(env HOME)/catkin_ws/src/cisst-saw"/>
+  <arg name="psm_config" default="$(arg cisst_root)/sawIntuitiveResearchKit/share/jhu-dVRK/console-PSM1.json"/>
+
+  <include file="$(find dvrk_robot)/launch/dvrk_arm_rviz.launch">
+    <arg name="arm" value="$(arg arm)"/>
+    <arg name="config" value="$(arg psm_config)"/>
+  </include>
+
+  <!-- CoSTAR bringup -->
+  <include file="$(find costar_bringup)/launch/utilities.launch"/>
+  <include file="$(find costar_robot_manager)/launch/simple_psm_driver.launch"/>
+  <include file="$(find costar_bringup)/launch/config/dvrk.launch"/>
+
+
+  <!-- Interactive Marker -->
+  <node name="instructor_marker" pkg="costar_robot_manager" type="instructor_marker.py"/>
+
+  <!-- Gripper -->
+  <node name= "simple_psm_gripper" pkg="gripper_dvrk" type="psm_gripper.py" />
+
+</launch>

costar_bringup/launch/dvrk_teleop.launch

@@ -0,0 +1,34 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- dvrk bringup -->
+  <arg name="master" default="MTMR"/>
+  <arg name="slave" default="PSM1"/>
+  <arg name="cisst_root" default="$(env HOME)/catkin_ws/src/cisst-saw"/>
+  <arg name="arms_config" default="$(arg cisst_root)/sawIntuitiveResearchKit/share/jhu-dVRK/console-MTMR-PSM1-Teleop.json"/>
+
+  <!-- set to dvrk to hide extra options -->
+  <arg name="case" default=""/>
+
+
+  <include file="$(find dvrk_robot)/launch/dvrk_master_slave_rviz.launch">
+    <arg name="master" value="$(arg master)"/>
+    <arg name="slave" value="$(arg slave)"/>
+    <arg name="config" value="$(arg arms_config)"/>
+  </include>
+
+  <!-- CoSTAR bringup -->
+  <include file="$(find costar_bringup)/launch/utilities.launch">
+    <arg name="instructor_cases" value="$(arg case)"/>
+  </include>
+  <include file="$(find costar_robot_manager)/launch/simple_psm_driver.launch"/>
+  <include file="$(find costar_bringup)/launch/config/dvrk.launch"/>
+  <node name="predicator_dvrk" pkg="predicator_dvrk" type="simple_predicator_dvrk.py"/>
+
+
+  <!-- Interactive Marker -->
+  <node name="instructor_marker" pkg="costar_robot_manager" type="instructor_marker.py"/>
+
+  <!-- Gripper -->
+  <node name= "simple_psm_gripper" pkg="gripper_dvrk" type="psm_gripper.py" />
+
+</launch>

costar_bringup/launch/dvrk_teleop_two_arms.launch

@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- dvrk bringup -->
+  <arg name="master" default="MTMR"/>
+  <arg name="slave" default="PSM1"/>
+  <arg name="arms_config" default="$(find dvrk_config)/jhu-dVRK/console-MTMR-PSM1-MTML-PSM2-Teleop.json"/>
+
+  <!-- set to dvrk to hide extra options -->
+  <arg name="case" default=""/>
+
+  <include file="$(find dvrk_robot)/launch/dvrk_master_slave_rviz.launch">
+    <arg name="master" value="$(arg master)"/>
+    <arg name="slave" value="$(arg slave)"/>
+    <arg name="config" value="$(arg arms_config)"/>
+  </include>
+
+  <!-- CoSTAR bringup -->
+  <include file="$(find costar_bringup)/launch/utilities.launch">
+    <arg name="instructor_cases" value="$(arg case)"/>
+  </include>
+  <include file="$(find costar_robot_manager)/launch/simple_psm_driver.launch"/>
+  <include file="$(find costar_bringup)/launch/config/dvrk.launch"/>
+  <node name="predicator_dvrk" pkg="predicator_dvrk" type="simple_predicator_dvrk.py"/>
+
+
+  <!-- Interactive Marker -->
+  <node name="instructor_marker" pkg="costar_robot_manager" type="instructor_marker.py"/>
+
+  <!-- Gripper -->
+  <node name= "simple_psm_gripper" pkg="gripper_dvrk" type="psm_gripper.py" />
+
+</launch>

costar_component/src/costar_component/component.py

@@ -23,9 +23,9 @@ def make_service_proxy(self, name, srv_t, use_namespace=True):
       service_name = os.path.join(self.namespace, name)
     else:
       service_name = name
-    rospy.logerr("Connecting to service with name: %s"%service_name)
+    rospy.loginfo("Connecting to service with name: %s"%service_name)
     rospy.wait_for_service(service_name)
-    rospy.logerr("Connected to service successfully.")
+    rospy.loginfo("Connected to service successfully.")
     return rospy.ServiceProxy(service_name,srv_t)
 
   def __init__(self, name, namespace):

costar_gripper/gripper_dvrk/CMakeLists.txt

@@ -0,0 +1,197 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(gripper_dvrk)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  gripper_manager
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES gripper_dvrk
+#  CATKIN_DEPENDS gripper_manager
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/gripper_dvrk.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/gripper_dvrk_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_gripper_dvrk.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

costar_gripper/gripper_dvrk/package.xml

@@ -0,0 +1,52 @@
+<?xml version="1.0"?>
+<package>
+  <name>gripper_dvrk</name>
+  <version>0.0.0</version>
+  <description>The gripper_dvrk package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="chris@todo.todo">ziri</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/gripper_dvrk</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>gripper_manager</build_depend>
+  <run_depend>gripper_manager</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

costar_gripper/gripper_dvrk/scripts/psm_gripper.py

@@ -0,0 +1,12 @@
+#!/usr/bin/env python
+
+import rospy
+from gripper_dvrk import SimplePSMGripperServer
+
+# rospy.init_node("simple_psm_gripper_server")
+verbose = rospy.get_param('~verbose',False)
+server = SimplePSMGripperServer("/costar/gripper",verbose=verbose)
+server.init_gripper()
+rospy.sleep(.5)
+server.open_gripper()
+rospy.spin()