About

cisst ROS integration packages

Dependencies:

• cisst libraries and ROS

Install

# clone cisst-ros 
$ cd /PATH/TO/CATKIN_WS/src  
$ git clone http://github.com/jhu-cisst/cisst-ros.git

# catkin make 
$ cd ..
$ catkin_make    # you may need to specify cisst build path using cmake 
                 # default cisst\_DIR path: PATH/TO/CISST/build/cisst/

NOTE
If you have a catkin_make error complaining about not finding cisst, please specify cisst path manually.

# cd to build dir
cd to /path/to/ros_workspace/build

# start ccmake 
ccmake .

# set cisst_DIR, if you are dvrk user, 
# path should be ~/dev/cisst/build/cisst
cisst_DIR  PATH/TO/CISST/build/cisst/

Package Description

• cisst_msgs: ros messages for cisst data types
• cisst_ros_bridge:
  • bridge component for cisst to ros
  • data type conversion methods