Updated some documentation

CHANGELOG.md

@@ -0,0 +1,19 @@
+Change log
+==========
+
+1.1.1 (2015-10-18)
+==================
+
+* Change log file created
+* API changes:
+  * Removed joint_publisher python code, now use topics directly from dVRK C++ stack (so much cleaner!)
+  * Config file name, urdf and rviz, use dVRK C++ arm naming convention, i.e. PSM1, not psm_one, ...
+  * Updated al urdf code to handle arm name as parameter (e.g. PSM1, PSM2)
+* Deprecated features:
+  * None
+* New features:
+  * dvrk_python/src/robot.py can be used a a simple Python API hiding all the ROS topics/data types 
+  * dvrk_matlab/robot.m can be used a a simple Matlab API hiding all the ROS topics/data types 
+* Bug fixes:
+  * fixed urdf for PSM jaw angle
+  * ...

README.md

@@ -3,20 +3,10 @@ da Vinci Research Kit ROS
 This repository has code related to daVinci Research Kit (dVRK) ROS packages.
 See https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki
 
-# Install 
-* Download and compile the cisst libraries and SAW components for the dVRK, see the dVRK tutorial wiki: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Build
-* Download and compile cisst-ros, see: https://github.com/jhu-cisst/cisst-ros
-* Download and compile dvrk-ros
-
-   ```sh
-# cd to catkin ws src dir
-cd ~/catkin_ws/src
-# clone repo
-git clone http://github.com/jhu-dvrk/dvrk-ros.git
-# build 
-cd ..
-catkin_make
-```
+# Install
+We use the catkin build tools, NOT catkin_make.  Please don't use catkin_make
+* Download and compile the cisst libraries and SAW components for the dVRK, see the dVRK tutorial wiki: https://github.com/jhu-cisst/cisst/wiki/Compiling-cisst-and-SAW-with-CMake#13-building-using-catkin-build-tools-for-ros
+* Download and compile dvrk-ros: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/CatkinBuild
 
 # How to run the code
 * **simulation:** see dvrk_teleop/README.md for details
@@ -29,7 +19,6 @@ catkin_make
 
 # List of Packages:
 * dv\_gazebo\_plugins: from WPI Nirav, don't know how to use Nirav? 
-* dvrk\_joint\_publisher: publishes joint state
 * dvrk_kinematics:
   * kinematics model of MTM/PSM
 * dvrk_model:
@@ -40,5 +29,3 @@ catkin_make
   * dummy teleop component with a Qt GUI
 * dvrk_robot: 
   * main file to start robot, publish & subscribe ros topics 
-* dvrk\_joint\_publisher:
-  * publish named joint states (position + velocity)

dvrk_robot/README.md

@@ -1,44 +1,30 @@
 dvrk robot 
-==================
-This package contains programs, which fires real robot, publishes and subscribes ROS topics.
-You can either run individual PIDs for any MTM or PSM or run the whole system in TeleOp mode.
+==========
+
+This package contains programs, which fires real robot, publishes and
+subscribes ROS topics.  You can either run individual PIDs for any MTM
+or PSM or run the whole system in TeleOp mode.
 
 # Depends  
 * ciss-ros 
 
-IMPORTANT:
-and the configuration files for MTMs/PSMs etc ... They would most probably be located in 
-~/dev/cisst/source/saw/applications/sawIntuitiveResearchKit/share if you followed the custom
-installation for CISST libraries from JHU. For your convinience, copy these files into a folder 
-called /config in dvrk_robot directory (the directory this README file is located in). The launch files
-in the /launch folder use this config folder, so don't forget to rename the configuration file
-names in the launch files based on your DVRK configuration files that you just copied to the 
-/config folder.
-
-# How to Run 
-roslaunch dvrk_robot test_dvrk_mtm.launch
-
-roslaunch dvrk_robot test_dvrk_psm.launch
-
+IMPORTANT: You first need to make sure you have all your configuration
+files ready, very likely in
+~/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share.  You don't
+need to copy your configuration files back and forth anymore.
 
-This will launch the Qt Application and for running the PSM/MTM and the Joint Publisher Slider GUI. You can 
-use the sliders to move the joints, use caution to avoid collisions. You can then use rostopic list
-to see all the topics that are available for getting/setting joint positions/torques/cartesians etc from 
-command-line or from ROS nodes ..
+# How to Run
 
-to run the whole teleop program
+For the Qt based application without rviz:
+  rosrun dvrk_robot dvrk_console_json -j <path_to_your_console_config.json>
 
-rosrun dvrk_robot dvrk_full_ros -j {path to config folder}/two-arms.json
+We also provide a launch script for single arm using rviz (you need to provide your own console_<arm>.json file):
+  roslaunch dvrk_robot dvrk_arm_rviz.launch arm:=PSM1 config:=/home/adeguet1/catkin_ws/src/cisst-saw/sawIntuitiveResearchKit/share/jhu-dVRK/console-PSM1.json
 
+# Using the ROS topics
 
-# create config folder
-as explained above
-* roscd dvrk_robot
-* mkdir config
-
-# copy config fils (io/pid/kinematics)
-cp /PATH/TO/sawIntuitiveResearchKit/share/*.* config 
-
+The best way to figure how to use the ROS topics is to look at the
+files dvrk_python/src/robot.py and dvrk_matlab/robot.m.
 
 **set robot state to HOME**  
 rostopic pub -1 /dvrk_mtm/set_robot_state std_msgs/String Home
@@ -49,14 +35,9 @@ rostopic pub -1 /dvrk_mtm/set_robot_state std_msgs/String Gravity
 ### Topic Names: 
 https://github.com/jhu-dvrk/dvrk-ros/wiki/ROS-Topic-Interface
 
-
 # Note
 With this package, you no longer need the programs such as
 * sawIntuitiveResearchKitQtPID -i ... -a ... -n ....
 * sawIntuitiveResearchKitQtTeleOperationJSON -j two-arms.json
 
-to run the arm pids or the entire teleop programs. The programs compiled with this 
-package provide the same core functionality as the programs listed above and add
-ros interface directly in the source code.
-
 

dvrk_robot/package.xml

@@ -1,7 +1,7 @@
 <?xml version="1.0"?>
 <package>
   <name>dvrk_robot</name>
-  <version>1.1.0</version>
+  <version>1.1.1</version>
   <description>The dvrk_robot package</description>
 
   <maintainer email="[email protected]">Zihan Chen</maintainer>