[ros-users] [Discourse.ros.org] [general] RAVEN surgical robot new ROS code release

John Raiti ros at discoursemail.com
Thu Oct 27 20:10:42 UTC 2016


For people who may not be aware of RAVEN, Applied Dexterity’s RAVEN II dexterous robotic manipulation research system has the following capabilities: ROS/Linux/Gazebo, dual arm teleoperation with laparoscopic tools, spherical mechanism remote center, 7 DOF, gripper with 3-axis wrist, ability to adapt to commercial surgical robotic tools (da Vinci Si), and capability of employing four RAVEN II arms for single user or collaborative surgeries. RAVEN II has been used in the NASA NEEMO-12 mission and is used by robotics research labs all over the world. 

Applied Dexterity and the UW BioRobotics Lab are proud to announce the first of our soon-to-be-regular updates to the RAVEN code. This represents work done by students and employees over the last six months to roll in new features for beginner and advanced users and to bring the RAVEN up to speed with the latest tools and features in Ubuntu 16.04 and ROS Kinetic.

Our new release will act as a platform for incorporating more features and bug fixes as developed and requested by current RAVEN users. 

Here's a list of new features you can find in 16.10 (github raven_2):
- ROS Kinetic and Ubuntu 16.04 support (new computer setup instructions)
- Autonomous Motion starter node ([https://github.com/uw-biorobotics/AutoCircle_generater](https://github.com/uw-biorobotics/AutoCircle_generater))
- Beginner, Intermediate, and Advanced software safety settings
- Improved grasper performance with minor recabling (optional) (recabling instructional video)
- Another round of documentation improvements
- Flowcharts!
- tweaks and little bits from the last few years of working with the RAVEN community that got buried in disparate git branches

This is far from everything that we want to add to the RAVEN code, and we're looking forward to working with all of you to help you get the most out of your RAVEN research, as well as new people to join the RAVEN ROS community. 

Please don't hesitate to get in touch with us: 
<mailto:andrew at applieddexterity.com>
<mailto:john at applieddexterity.com>

We're looking forward to your feedback!
Andy and John

[Visit Topic](http://discourse.ros.org/t/raven-surgical-robot-new-ros-code-release/747/1) or reply to this email to respond.

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