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Releases: shashank3199/dvrk_urdf

1.0.0

15 Oct 06:39
@shashank3199 shashank3199
1.0.0
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1.0.0 Pre-release
Pre-release

Release: v1.0.0 - Initial Release:

This release marks the first official version of the dVRK URDF Description package. It includes detailed URDF models, ROS2 Controls and configurations for the da Vinci Research Kit (dVRK) robotic components. The package is designed to support simulation and visualization within ROS 2.

Key Features:

  • URDF models for the da Vinci Core, PSM, ECM, MTM, SUJ, and Patient Cart.
  • ROS 2 control and RViz configurations for each component.
  • Launch files for simulating and visualizing the robots.
  • Comprehensive package structure with subcomponent details for easy integration into ROS 2 workspaces.

Known Limitations:

  • This release does not include automated testing, though manual testing has been extensively performed.

Installation:

To build and use the package, clone the repository, build the workspace with colcon build, and source the setup script. Detailed instructions are available in the README.

License:

The project is licensed under the MIT License.

Future Plans

  • Include the dvrk_ros2_hw_interface.
  • Addition of automated test cases for CI/CD.
  • Enhancements based on feedback from system testing.
  • Feature improvements and optimizations.

Contributors

License

This project is licensed under the MIT License.

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