Suture Tool

Note

This page is under active development.

This package homes the details for the suturing tool - endo360 for this project.

Package Structure

• suture_tool_control

  (future work) will contain the control files for the suture tool.

• suture_tool_description

  • launch

    contains launch file to start the robot_state_publisher and joint_state_publisher for the suture tool.

  • meshes

    contains mesh files for endo360 tool and circular needle.

  • urdf

    contains the URDF files for the suture tool (endo360).

• suture_tool_gazebo

  • config

    contains the rviz config file.

  • launch

    contains the launch file to start gazebo and rviz, adding the suture tool.

  • worlds

    contains world file for gazebo.

Running the Suture Tool

1. Build the packages colcon build

2. source install/setup.bash

3. Launch rviz and gazebo with the suture tool ros2 launch suture_tool_gazebo suture_tool.launch.xml

See below for example output.

After: ros2 launch suture_tool_gazebo suture_tool.launch.xml

gazebo	rviz (with the Joint State Publisher gui)

It is possible to move the suture joints using the Joint State Publisher gui.