radiang / dvrk_calibrate

dvrk_calibrate

Notification

This work is unofficial, unsupported and in progress in the current location.

Description

Rospackage to recieve optical tracking data while running robot to calibrate the RCM position and rotation of any PSM/ECM manipulator of the da Vinci Research Kit.

Author

Radian Azhar Gondokaryono: [e-mail]

Install dvrk_calibrate and dependencies VRPN and vrpn_client_ros

# cd to catkin ws src dir
cd /PATH/TO/CATKIN_WS/src
# clone repo
git clone https://github.com/radianag/dvrk_calibrate.git
git clone https://github.com/ros-drivers/vrpn_client_ros.git
# Install vrpn dependency
sudo apt-get update
rosdep install --from-paths .
# build
cd ..
catkin_make

Test Setup

For every manipulator place two rigid bodies:

• rigid_body_rotation: 3 markers placed on joint one of manipulator to describe manipulator rotation. The axis of three markers corresponding to the x-z axis of the manipulator.
• rigid_body_RCM : 3 markers placed on the parallelogram to calibrate the RCM position

Setting up Motive to Stream VRPN

In Windows desktop: After camera calibration, select 3 markers in group, right-click -> Rigid Body -> Create From Selected Markers. Rigid bodies will be oriented to global frame.

For all rigid_body_rotations: Click View -> Rigid Body Properties. Under the Rigid Bodies Pane, click the Orientation tab. Here, reorient the axis visually by changing the pitch, yaw, roll angles .

Click View -> Data Streaming. Click Broadcast Frame Data. Note the Network Interface -> Local Interface Value. Scroll down. Under VRPN Streaming Engine tab, make port: 3883. Click Broadcast Frame Data.

Running Software

In Ubuntu desktop: Launch vrpn_client_ros which publishes vrpn packages as ros topics:

roslaunch vrpn_client_ros sample.launch server:=<ip_of_server_machine>

<ip_of_server_machine> is IP address of the motive computer software: Local Interface Value. Should see: Connection Established Creating new tracker RigidBody#.

Setup the rigid body listener: Open file (dvrk_calibrate)/scripts/calibrate_psms.py. Edit tuples ($name, $rigid_body_rotation_number, $rigid_body_position_number) corresponding to each manipulator being calibrated. Run dVRK manipulators with ROS. In another terminal, run robot and calibration:

 rosrun dvrk_calibrate calibrate_psms.py

Done, outputs RCM positions and rotations of each manipulator in camera frame.

Dependencies

vrpn_client_ros, vrpn, dvrk_robot (specifically dvrk_python)