This repository has the necessary source code and models for running a Gazebo simulation of the daVinci robot. The files present in this repository are meant for launching a gazebo simulation with the davinci tools. No tasks are launched here. For launching da Vinci tasks please refer to the dvrk task example repository

You will need the Mimic plugin from the cwru_robotics fork of roboticsgroup_gazebo_plugins.

In order to launch the gazebo simulation with the davinci in lab configuration, please call the following roslaunch script.

roslaunch cwru_davinci_simulation lab_configuration.launch