前面的是在ROS1-Noetic裝的,那是否可以在ROS2裝？好像可以.我主要是照這個網頁安裝的,我發覺dVRK在Ubuntu 20.04-ROS2-galactic比ROS1-noetic更容易安裝.

附註, ROS2-galactic的簡易安裝

# locale跟repository universe通常安裝Ubuntu已經是弄好的,不用再改

#ROS2 key
sudo apt update && sudo apt install curl
sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg

#加入repository
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null

#安裝
sudo apt update
sudo apt upgrade
sudo apt install ros-galactic-desktop

在~/.bashrc修改加入

# ROS 1.0 Noetic or ROS 2.0 Galactic
echo ROS 1.0 or ROS 2.0? 1=Noetic 2=Galactic 
read ROS
if (($ROS==1));then
source /opt/ros/noetic/setup.bash
echo "Noetic"
elif (($ROS==2));then
source /opt/ros/galactic/setup.bash
echo "Galactic"
else
echo "Non-ROS"
fi

各開2個terminal分別執行,看ROS2是否安裝成功

ros2 run demo_nodes_cpp talker

ros2 run demo_nodes_py listener

不過安裝過程中出現錯誤,我搞了好久,安裝跟移除一堆程式相依,甚至於移除掉原本的ROS2-galactic,但最後是靠一個指令

sudo aptitude install -f ros-galactic-desktop # -f強迫修復

先把ROS2全部先救回來,再重頭安裝一次dVRK,結果就成功了.

裝完ROS2之後,再照網頁裝dVRK

#以下是dVRK安裝
sudo apt install python3-vcstool python3-colcon-common-extensions # for colcon相依程式
sudo apt install python3-pykdl # for the CRTK Python client library

sudo apt install libxml2-dev libraw1394-dev libncurses5-dev qtcreator swig sox espeak cmake-curses-gui cmake-qt-gui git subversion gfortran libcppunit-dev libqt5xmlpatterns5-dev libbluetooth-dev
sudo apt install ros-galactic-joint-state-publisher* ros-galactic-xacro #如果你的Ubuntu是22.04版本,請照網頁安裝 

source /opt/ros/galactic/setup.bash
mkdir -p ~/ros2_ws/src
cd ~/ros2_ws/src
vcs import --input https://raw.githubusercontent.com/jhu-dvrk/dvrk_robot_ros2/main/dvrk.vcs --recursive

cd ~/ros2_ws
colcon build --cmake-args -DCMAKE_BUILD_TYPE=Release
#source ~/ros2_ws/install/setup.bash

之後會比較好玩,要開4個terminal分別執行

#terminal 1 開啟dVRK
source ~/ros2_ws/install/setup.bash
cd ~/ros2_ws/install/sawIntuitiveResearchKitAll/share/sawIntuitiveResearchKit
ros2 run dvrk_robot dvrk_console_json -j share/console/console-PSM1_KIN_SIMULATED.json

#terminal 2 開啟RViz
source ~/ros2_ws/install/setup.bash
ros2 run rviz2 rviz2 -d ~/ros2_ws/install/dvrk_model/share/dvrk_model/rviz/PSM1.rviz

#terminal 3 dVRK發佈到RViz
source ~/ros2_ws/install/setup.bash
ros2 launch dvrk_model dvrk_state_publisher.launch.py arm:=PSM1

#terminal 4 可以看到機器手臂在動 不過這是在網頁的terminal 2範例
source ~/ros2_ws/install/setup.bash
ros2 run dvrk_python dvrk_arm_test.py -a PSM1

附上螢幕錄影檔

你可以重複執行最後的指令,在dVRK視窗中,切換PSM1 PID跟PSM1,

你也可以嘗試其他在~/ros2_ws/src/dvrk/dvrk_python/scripts的python檔,例如

ros2 run dvrk_python dvrk_psm_test.py -a PSM1

可以看PSM1的tip的動作