之前安裝ROSMA時,dVRK無法同步.我後來問作者,他說他是用matlab 2021b;另外, ROSMA網頁上的dVRK似乎是devel而不是master,所以這兩個我重裝.

重裝dVRK時,如果wstool init失敗,可以把catkin_ws/.catkin_tools刪除,還有別在anaconda環境下裝,catkin build會不過,可以加上" -DPYTHON_EXECUTABLE=/usr/bin/python3 "

catkin build -DPYTHON_EXECUTABLE=/usr/bin/python3 --summary  

安裝matlab 2021b時會有錯誤,只好用root安裝

xhost +SI:localuser:root
sudo ./install

我是裝在/usr/local/matlab/R2021b,然後

cd ~
git clone https://github.com/SurgicalRoboticsUMA/rosma_dataset.git

#拷貝一些設定檔,將rosma/config下的檔案copy到
cp ~/rosma_dataset/config/full_system.rviz ~/catkin_ws/src/dvrk-ros/dvrk_model/rviz_config
cp ~/rosma_dataset/config/dvrk_full_rviz.launch ~/catkin_ws/src/dvrk-ros/dvrk_robot/launch
cp ~/rosma_dataset/config/sawControllersPID-PSM_modified.xml ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share

cp ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share/tool/LARGE_NEEDLE_DRIVER_420006.json ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share/psm-large-needle-driver.json #抓不到
cp ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share/tool/sawControllersPID-MTMR.xml ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share #抓不到
cp ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share/tool/sawControllersPID-MTML.xml ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share #抓不到
cp ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share/kinematic/mtmr.json ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share/mtm.json #抓不到

cp ~/rosma_dataset/config/full_teleop_SIMULATED.json ~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share/full_teleop_modified_SIMULATED.json #有錯

gedit ~/catkin_ws/src/dvrk-ros/dvrk_robot/launch/dvrk_full_rviz.launch 

找到4個

node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"
其中type全部改為type="robot_state_publisher",

cd ~/catkin_ws
source devel/setup.bash
roslaunch dvrk_robot dvrk_full_rviz.launch slave1:=PSM1 slave2:=PSM2 master1:=MTMR master2:=MTML config:=/home/$(whoami)/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share/full_teleop_modified_SIMULATED.json