dVRK setup - gkgkgk1215/else GitHub Wiki

Linux

Ubuntu 16.04.6 LTS (Xenial Xerus)

ROS

ROS Kinetic

dVRK library

Reference: Johns Hopkins wiki for cisst/saw library

Install Dependencies (refer)

sudo apt-get install libxml2-dev libraw1394-dev libncurses5-dev qtcreator swig libopenigtlink-dev flite sox espeak cmake-curses-gui cmake-qt-gui libopencv-dev git subversion gfortran libcppunit-dev fluid

sudo apt-get install qt5-default python-catkin-tools

Initializing your catkin workspace

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws
catkin init

Get the sources

cd ~/catkin_ws/src
git clone https://github.com/jhu-cisst/cisst-saw --recursive
git clone https://github.com/jhu-dvrk/dvrk-ros
git clone https://github.com/jhu-dvrk/dvrk-gravity-compensation

or you can clone from another repository, which includes the UCB settings.

cd ~/catkin_ws/src
git clone https://github.com/gkgkgk1215/cisst-saw
git clone https://github.com/gkgkgk1215/dvrk-ros

Configure and build (refer)

cd ~/catkin_ws
# create a profile named release with _release extension
catkin config --profile release -x _release
# switch to newly created release profile
catkin profile set release
# set default CMake build type
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release
# build
catkin build
# set environment variables - MAKE SURE YOU SOURCE THE RIGHT FILE (debug vs. release)
source devel_release/setup.bash