ROS2 API

Robots

All three setups (physical dVRK, AMBF simulation, Isaac Sim simulation) support the same minimal set of ROS 2 topics, using the CRTK convention.

The physical dVRK supports the full documented API for the PSM1 and PSM2 namespaces.

The simulated dVRK (AMBF and IsaacSim) supports the following subset of topics in the PSM1 and PSM2 namespaces (see above link for documentation):

• measured_cp: Measured Cartesian pose, relative to the camera
• measured_js: Measured joint state (positions, velocities, effort) for the 6 PSM joints (not including gripper)
• move_cp: Set Cartesian trajectory goal (relative to camera)
• move_jp: Set joint trajectory goal
• servo_cp: Set Cartesian pose goal (relative to camera) for low-level controller
• servo_jp: Set joint position goal for low-level controller (not including gripper)
• jaw/measured_js: Measured joint state (positions, velocities, effort) for the gripper
• jaw/move_jp: Set gripper trajectory goal (TBD)
• jaw/servo_jp: Set gripper position goal for low-level controller

Cameras

The physical (OAK-D-SR) and simulated (AMBF and IsaacSim) stereo camera streams are provided by ROS topics (separate topics for left and right cameras), following the conventional ROS2 camera configuration. In particular, the raw left and right camera topics are:

• stereo/left/image_raw: raw image stream from left camera
• stereo/left/camera_info: calibration parameters for left camera
• stereo/right/image_raw: raw image stream from right camera
• stereo/right/camera_info: calibration parameters for right camera