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Patient Cart Description

The Patient Cart Description package provides the URDF descriptions, launch files, and configurations necessary to simulate and visualize the Patient Cart of a surgical robotic system in ROS 2. This package includes models for both the classic and SI (System Intelligence) versions of the Patient Cart.

Table of Contents

Package Structure

patient_cart_description
├── CMakeLists.txt
├── config
│   ├── patient_cart.classic.controllers.yaml
│   └── patient_cart.si.controllers.yaml
├── launch
│   ├── patient_cart_classic_bringup.launch.py
│   ├── patient_cart_si_bringup.launch.py
│   ├── README.md
│   └── view_robot.launch.py
├── package.xml
├── README.md
├── rviz
│   └── patient_cart_description.rviz
├── src
│   └── patient_cart_joint_controller.cpp
└── urdf
    ├── patient_cart.classic.urdf.xacro
    ├── patient_cart.si.urdf.xacro
    └── README.md

URDF Files

  • Classic Patient Cart URDF (patient_cart.classic.urdf.xacro)

    • Located at urdf/patient_cart.classic.urdf.xacro.
    • Defines the model for the classic version of the Patient Cart.

  • SI Patient Cart URDF (patient_cart.si.urdf.xacro)

    • Located at urdf/patient_cart.si.urdf.xacro.
    • Defines the model for the SI (System Intelligence) version of the Patient Cart.

  • URDF README

    • See urdf/README.md for detailed information on the URDF files and their structure.

Controllers

  • Classic Patient Cart Controllers (patient_cart.classic.controllers.yaml)

    • Located at config/patient_cart.classic.controllers.yaml.
    • Defines the controllers for the classic version of the Patient Cart.

  • SI Patient Cart Controllers (patient_cart.si.controllers.yaml)

    • Located at config/patient_cart.si.controllers.yaml.
    • Defines the controllers for the SI version of the Patient Cart.

  • Custom Joint Controller Source (patient_cart_joint_controller.cpp)

    • Located at src/patient_cart_joint_controller.cpp.
    • Implements specific control logic for the Patient Cart.

RViz Configurations

  • RViz Configuration (patient_cart_description.rviz)
    • Located at rviz/patient_cart_description.rviz.
    • Pre-configured settings for RViz visualization of the Patient Cart.

Building the Package

Ensure you have a ROS 2 workspace set up. Clone the patient_cart_description package into the src directory of your workspace, and then build the workspace:

colcon build

Source your workspace after building:

source install/setup.bash

Usage Examples

Simulate the Classic Patient Cart

To simulate the classic version of the Patient Cart with ROS 2 control and visualize it in RViz:

ros2 launch patient_cart_description patient_cart_classic_bringup.launch.py

Simulate the SI Patient Cart

To simulate the SI version of the Patient Cart:

ros2 launch patient_cart_description patient_cart_si_bringup.launch.py

Visualize and Manipulate the Robot with GUI

To launch the robot and manipulate its joints using the Joint State Publisher GUI:

ros2 launch patient_cart_description view_robot.launch.py

Additional Resources

  • URDF README: urdf/README.md - Detailed documentation on the URDF files for both classic and SI versions.
  • Launch Files README: launch/README.md - Explanations of the provided launch files and their usage.