gazebo_notes_9_12

roscore

rosrun gazebo_ros gazebo

roslaunch dvrk_model wsn_rosparam_gazebo_load.launch

rosrun gazebo_ros spawn_model -file wsntest_psm_debug.base.urdf -urdf -model dvrk_psm

roslaunch dvrk_model davinci_control_debug.launch

(test w/ (e.g.): rostopic pub /davinci/joint1_position_controller/command std_msgs/Float64 0  )

rosrun davinci_traj_streamer davinci_traj_interpolator_as

rosrun davinci_traj_streamer davinci_traj_action_client_pre_pose
  OR

from /ros_ws/src/davinci_wsn/davinci_playfiles:
  rosrun playfile_reader playfile_cartspace testfile2.csp

Will do a Cartesian-space move;  currently limited to 4 jnts on one PSM


TO_DO:

  combine all of the above in a launch file

  extend to gripper DOF's (model and control)

  add collision models (so gripper can grab!)

  publish static transforms from camera frame to PSM base frame

  extend to 2nd PSM

  add stereo cameras

  add some models (blocks? rings?) to env.

  write a demo pgm to manipulate a model

  create model of needle?; write pgm to grasp needle and drive it through hoop
    (how to init needle?  in gripper on start-up?)

  create model of suture?