dvrk command - gkgkgk1215/else GitHub Wiki

https://dvrk.readthedocs.io/2.3.0/index.html

Generate config

rosrun saw_intuitive_research_kit_applications dvrk-config-generator.py -a PSM1 -g Si -H dRA1 -s 615178

rosrun saw_intuitive_research_kit_applications dvrk-config-generator.py -a PSM2 -g Si -H dRA1 -s 432789

rosrun saw_intuitive_research_kit_applications dvrk-config-generator.py -a PSM3 -g Si -H dRA1 -s 640216

rosrun saw_intuitive_research_kit_applications dvrk-config-generator.py -a ECM -g Si -H dRA1 -s 342471

rosrun saw_intuitive_research_kit_applications dvrk-config-generator.py -a MTML -g Classic -H DQLA -s 60581

rosrun saw_intuitive_research_kit_applications dvrk-config-generator.py -a MTMR -g Classic -H DQLA -s 46927

IO Check

rosrun saw_robot_io_1394_ros robot_io_console -c src/dvrk_config_dgist/dgist-daVinci-Si/sawRobotIO1394-PSM2-432789.xml

~/catkin_ws/devel/bin/sawRobotIO1394QtConsole -c ~/catkin_ws/src/dvrk_config_dgist/dgist-daVinci-Si/sawRobotIO1394-PSM2-432789.xml

qladisp

qlacommand -c close-relays

sawIntuitiveResearchKitSiPotentiometersCalibration -c sawRobotIO1394-PSM2-432789.xml

ESPM LED should be steady in green

clean up the wiring

test MTM as well

blinking in pink and purble means PSM is properly working

Console