Robot

Note

This page is under active development.

This package homes the details for the complete microvascular-anastamosis system - comprised of the suture tool, kuka, maps and oct systems.

Run Example

1. colcon build

2. source install/setup.bash

3. ros2 launch robot robot.launch.xml

4. In rviz, change fixed frame to oct_link

5. In gazebo, move model vessel over tool-tip. LaserScans will display in rviz in two different colors that represent each lidar sensor composing the OCT sensor, respectively. Each lidar sensor responds to a different part of the vessel i.e. one lidar responds to the smaller cylinder only while the other responds to only the larger cylinder.

See below output images.

After: ros2 launch robot robot.launch.xml

gazebo	rviz

After changing fixed in rviz to: oct_link

gazebo	rviz

After pressing play in gazebo and moving vessel in gazebo. Note when only one lidar component of the OCT sensor is visible at a time in rviz.

Vessel Left	Vessel Middle	Vessel Right