surgical_console_ITB

Repository for Surgical Console Capstone Design in Electrical Engineering Department of Institut Teknologi Bandung.

The development repo can be found at: https://github.com/raflyap/master_console

Each folder represents the package in ROS Framework. So, you need to install ROS to implement the programs.

Requirement:

• Installation of ROS
• Installation of COPPELIA sim
• Installation of Rosserial (Modify the serial_node.py as instructed below to run 2 rosserial nodes).

HOW TO SETUP SERIAL NODE

Langkah mengubah serial_nopde biar bisa 2 arduino

HOW TO SETUP SIMULATOR

Installing and Running CoppeliaSim from scratch (tested Ubuntu 16.04 ROS kinetic)

Installing

1. Download CoppeliaSim and Extract at /home : https://www.coppeliarobotics.com/ubuntuVersions 2.Download and Extract sim_ros_interface and LibPlugins from :

[simExtROSInterface](https://github.com/CoppeliaRobotics/simExtROSInterface)
and
[libPlugin](https://github.com/CoppeliaRobotics/libPlugin)

3. Make ROS workspace with catkin_make
4. Copy sim_ros_interface to /$workspace_ws/src/
5. Copy libPlugin to /CoppeliaSimDIR/programming/libPlugins/
6. Make sure you have minimum version of CMake is 16.0. If you don't have it, run this code:

version=3.17
build=3
mkdir ~/temp
cd ~/temp
wget https://cmake.org/files/v$version/cmake-$version.$build.tar.gz
tar -xzvf cmake-$version.$build.tar.gz
cd cmake-$version.$build/
./bootstrap
make -j4
sudo make install

and verify with this: cmake --version

8. At terminal, execute this code at ROS workspace that has been built before

export COPPELIASIM_ROOT_DIR=~/path/to/coppeliaSim/folder
catkin build --cmake-args -DCMAKE_BUILD_TYPE=Release -DLIBPLUGIN_DIR=$COPPELIASIM_ROOT_DIR/programming/libPlugin

if there some error with make[2]: *** [generated/stubs.cpp] Error 1. Try to install xsltproc with : sudo apt install xsltproc 9. At workspace_ws directory, search for libsimExtROSInterface.so and copy to CoppeliaSim/

Running

1. Advance to CoppeliaSim directory.
2. Run this code, make sure ROSInterface is in log console. ./coppeliaSim.sh
3. Add TA192001004_simulator.ttt file to COPPELIADIR/scene/
4. Advance to File->Open Scene-> TA192001004_simulator.ttt
5. Enjoy

Ethernet things

Setting up ubuntu (if using usb to ethernet connector)

1. Connect two computer with ethernet cable
2. Check both ip addresses's of two computer. In ubuntu you can use ifconfig and search for usb to ethernet. It's common named by enx00e04c534458
3. If ubuntu doesn't identify its ipv4 addresses, run sudo gedit /etc/network/interfaces and add this line

auto enx00e04c534458
iface enx00e04c534458 inet static
    address 169.254.60.165
    netmask 255.255.0.0

4. Finally, restart the network-manager : sudo service network-manager restart

Setting up ip address

1. Use ip address that use coppeliasim (as a client to the code client.py at socket_simulator package

Run simulator

At server (computer that serve data)

1. rosrun socket_programming server.py
2. (optional) rosrun socket_programming generator.py for generate dummy values

At client (simulator)

1. rosrun socket_simulator client.py