CatkinBuild

Table of Contents generated with DocToc

• Introduction
• Packages
  • cisstNetlib, cisst, SAW components and cisst-ros bridge
  • dvrk-ros

Introduction

These instructions are provided for those who want to build the whole cisst/SAW stack using catkin tools only. This is an alternative to using catkin_make.

Packages

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 since they contain many CAD files that are of no use for most cisst-saw users. 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