Da Vinci Tool Robot Integration

Installation

1. Create a workspace and clone all dependencies:

   mkdir -p da-vinci-tool-integration/src
   cd da-vinci-tool-integration
   git clone https://github.com/shashank3199/dvrk_urdf.git src/dvrk_urdf # Da Vinci driver
   git clone https://github.com/lbr-stack/lbr_fri_ros2_stack.git src/lbr_fri_ros2_stack # KUKA driver
   git clone https://github.com/suphasitpp/da_vinci_tool_integration.git src/da_vinci_tool_integration

2. Build this repository:

   source /opt/ros/humble/setup.bash
   colcon build \
       --symlink-install \
       --packages-select \
           lbr_description \
           psm_description

3. Run RViZ: