DVRK_RecordAndPlayback

This package is used to record data from the da Vinci Research Kit or play them back to it.

Install in a catkin workspace:

1. Clone the package into a catkin workspace:

$ git clone https://github.com/careslab/DVRK_RecordAndPlayback.git

2. Build using catkin. The installation needs extra permissions:

$ sudo -E catkin build dvrk_record_and_playback

Launch an RViz simulation and a modified rqt_bag window which can be to record or play the data back into the hardware:

$ roslaunch dvrk_record_and_playback record_and_playback.launch

The modified rqt_bag window has 2 added buttons:

1. Rename Topics: The topics that are recorded are not the same as the ones that can be played back. For this reason we need to rename the topics. Hardware and simulation require different topics. By pressing this button 2 new files will be created. One for hardware and one for simulation. The current window should be closed and reopened. Then a file may be opened for playback.

2. Home: The hardware needs to be prepared before the data can be played back into it. The Home button prepares the hardware. Afterwards the data can be played back.

After using the Rename Topics and Home buttons everything is ready for playback. In order to do that simply:

1. Choose the topics that you want to playback and click publish.
2. Press the play button in the GUI and the messages should play back and publish into the hardware or simulation

1. Author : Shahab Eslamian (Shahab.eslamian@wayne.edu)
2. Organization : Careslab, Wayne State University
3. Supervisor : Abhilash Pandya (apandya@indigo.eng.wayne.edu)