how to run MTM Kinematics Simulation

[JauJieYou]

The Example of session is very clear and good. It could see clear of PSM1 movement. But there was only PSM1.rviz and PSM3.rviz in the subdirectory. How can I run the MTM simulation? I know there are other examples on ROS1, Is there possible to convert it to ROS2?
And for bilateral PSM simulation on the same screen, What should I do?
Is there anyone could give a demonstration or a class?
Thanks a lot.

[adeguet1]

• For the MTMs, try roslaunch dvrk_robot dvrk_arm_rviz.launch arm:=MTMR.
• For ROS2, see https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/BuildROS2 - ROS2 is marginally supported at that point.
• I don't think one can use the dvrk_arm_rviz launch file to display two PSMs in Rviz. Instead, you will need to create your own console JSON configuration file and use rosrun dvrk_robot dvrk_console_json -j .... See for example https://github.com/jhu-dvrk/sawIntuitiveResearchKit/blob/master/share/console/console-dVRK-cart-simulated.json. Then you will have to load two URDF models in Rviz. I've personally never done that but I'm sure it's not too hard and google can help you.

[JauJieYou]

Dear Professor: Thanks for your help. I am so appreciate and honored. I finally try as the ROSMA ( https://github.com/SurgicalRoboticsUMA/rosma_dataset) method on their web - ROS part. It failed. Then I try the file in original dVRK git clone file """ 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/console/console-full-system-simulated.json """ It still failed. It links PSM and MTM together. [image: error4.png] And the node is only one, instead of four (two PSM, two MTM) [image: error4a.png] I will keep try. Thank for your help. Best regards, JJ You