1. Prerequisite
2. OS
3. ROS2 packages
4. Installation
5. System Confituration
6. Node
7. Topic
8. Branch
9. Execute

Ubuntu 20.04.6 LTS

• ROS2 Foxy (Focal) https://docs.ros.org/en/foxy/index.html

• Rviz2
• teleop_twist_joy
• robot_state_publisher
• joint_state_publisher
• joint_state_publisher_gui (optional)

• surgical_robot_control

• xacro

  $ sudo apt install ros-{distro}-xacro

• joint_state_publisher & gui

  $ sudo apt install ros-{distro}-joint-state-publisher
  $ sudo apt install ros-{distro}-joint-state-publisher-gui

• serial (pyserial)

  $ pip install pyserial

• parse

  $ pip install parse

• 'surgical_robot_control_node'
  • Publisher
    kinematics_control_target_val
surgical_tool_pose
    
  • Subscriber
    /joy
/motor_state
/loadcell_data
    
• tcpclient
  • Publisher
    /motor_state
    
  • Subscriber
    kinematics_control_target_val
    
• loadcell_publisher
  • Publisher
    /loadcell_data
    
• surgical_robot_state_publisher
  • Publisher
    /tf
/robot_description
/joint_states
    
• joy_node
  • Publisher
    /joy
    

• Custom interfaces
  • LoadcellState.msg

    Type	Name
    builtin_interfaces/Time	stamp
    float32[]	threshold
    float32[]	data

  • MotorCommand.msg

    Type	Name
    builtin_interfaces/Time	stamp
    int32[]	target_position
    int32[]	target_velocity_profile

  • MotorState.msg

    Type	Name
    builtin_interfaces/Time	stamp
    int32[]	actual_position
    int32[]	actual_velocity
    int32[]	actual_acceleration
    int32[]	actual_torque

• main

  Use 5 motors. 4 for Directions(E,W,S,N) and the other for forceps.

  $ git clone -b main https://github.com/Bigyuun/teleop_robot_ws.git

• twin

  Use 10 motors. It means 2 set of main branch system.

  $ git clone -b twin https://github.com/Bigyuun/teleop_robot_ws.git

  $ cd teleop_robot_ws
  $ source /opt/ros/{DISTRIBUTION}/setup.bash
  $ . install/setup.bash
  $ ros2 launch launch_pkg teleop_robot.launch.py

  $ cd teleop_robot_ws
  $ source /opt/ros/{DISTRIBUTION}/setup.bash
  $ . install/setup.bash
  $ ros2 launch launch_pkg demo_teleop_robot.launch.py

  $ cd teleop_robot_ws
  $ source /opt/ros/{DISTRIBUTION}/setup.bash
  $ . install/setup.bash
  $ ros2 launch launch_pkg homing.launch.py