CatkinBuild

• Introduction
• catkin build and rosinstall
  • Debian packages
  • Catkin workspace, clone and build
  • Environment variables
• catkin build and git submodules
  • cisstNetlib, cisst, SAW components and cisst-ros bridge
  • dvrk-ros
• cmake; make and git submodules

Introduction

We suggest 3 different ways to retrieve all the dVRK required source repositories and compile them. The first two methods are for Linux/ROS users only and rely on the catkin build tools. Pleas note that we do not support catkin_make .

catkin build and rosinstall

The rosinstall configuration file is provided in dVRK 2.x and higher but can also be used with older versions (see https://github.com/jhu-dvrk/dvrk-ros).

Debian packages

This section assumes you already have ROS installed (see https://www.ros.org). You will need to install a few more packages:

• Ubuntu 16.04 with ROS Kinetic: sudo apt-get install libxml2-dev libraw1394-dev libncurses5-dev qtcreator swig flite sox espeak cmake-curses-gui cmake-qt-gui libopencv-dev git subversion gfortran libcppunit-dev qt5-default python-wstool python-catkin-tools
• Ubuntu 18.04 with ROS Melodic: sudo apt install libxml2-dev libraw1394-dev libncurses5-dev qtcreator swig sox espeak cmake-curses-gui cmake-qt-gui git subversion gfortran libcppunit-dev libqt5xmlpatterns5-dev python-wstool python-catkin-tools
• Ubuntu 20.04 with ROS Noetic:sudo apt install libxml2-dev libraw1394-dev libncurses5-dev qtcreator swig sox espeak cmake-curses-gui cmake-qt-gui git subversion gfortran libcppunit-dev libqt5xmlpatterns5-dev python-wstool python3-catkin-tools python3-osrf-pycommon

Catkin workspace, clone and build

If you're using ROS Melodic and the devel branch, you can just copy/paste the following. For other configurations, make sure your replace melodic by noetic or whatever version or ROS you're using. For the master branch, replace devel by master.

source /opt/ros/melodic/setup.bash # or use whatever version of ROS is installed!
mkdir ~/catkin_ws # create the catkin workspace
cd ~/catkin_ws # go in the workspace
wstool init src # we're going to use wstool to pull all the code from github
catkin init # create files for catkin build tool
catkin config --cmake-args -DCMAKE_BUILD_TYPE=Release # all code should be compiled in release mode
cd src # go in source directory to pull code
wstool merge https://raw.githubusercontent.com/jhu-dvrk/dvrk-ros/devel/dvrk_ros.rosinstall # or replace devel by master
wstool up # now wstool knows which repositories to pull, let's get the code
catkin build # ... and finally compile everything

Environment variables

This is recommended if you're going to use a single catkin workspace (as most users do): https://github.com/jhu-cisst/cisst/wiki/Compiling-cisst-and-SAW-with-CMake#setting-up-your-environment-variables-for-ros

catkin build and git submodules

cisstNetlib, cisst, SAW components and cisst-ros bridge

You will first need to build cisst and its dependencies. Follow the instructions provided for cisst/SAW catkin build and then come back to this page for the dVRK/ROS specific packages. Once this is done, move on to the next section.

dvrk-ros

These packages are not part of the cisst-saw repositories so you have to clone them manually. You first need to download the cisst-saw libraries and components (see instructions above) and then do:

cd ~/catkin_ws/src
git clone https://github.com/jhu-dvrk/dvrk-ros
git clone https://github.com/jhu-dvrk/dvrk-gravity-compensation
git clone https://github.com/collaborative-robotics/crtk_msgs crtk/crtk_msgs
git clone https://github.com/collaborative-robotics/crtk_python_client crtk/crtk_python_client
git clone https://github.com/collaborative-robotics/crtk_matlab_client crtk/crtk_matlab_client
catkin build

cmake; make and git submodules

This is not recommended for most users but can be useful if you don't have ROS or want to compile some of the dVRK code on Windows. See: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Build