Catheter-Motion-System-Thesis

Procect steps

Step 1:

1. Install arduino
2. Install arduino ros package using this link https://github.com/ros-drivers/rosserial,
3. Place StepperDriver-1.3.1 library files into the Arduino Library file
4. Run multiaxis_steppermotor_roscontroller code inside the Arduino microcontroller

Step 2:

1. Use Dynamixel Wizard program to appoint motor id as a 1
2. https://github.com/ROBOTIS-GIT/DynamixelSDK, install dynamixel_sdk package
3. https://github.com/ROBOTIS-GIT/dynamixel-workbench, install dynamixel_workbench packege
4. Easiest way to install dynamixel packages is follow this link descriptions https://emanual.robotis.com/docs/en/software/dynamixel/dynamixel_workbench/#position-controller

Step 3:

1. https://github.com/qt/qt5, install qt5 package

Step 4: The required python modules instillation are given below:

1. pip install opencv-python
2. pip install -U scikit-learn
3. pip install scipy

Step 5:

1. Download rar file
2. Place launch file to dynamixel launch file
3. Place yaml file to dynamixel yaml file
4. Place script file to inside the src file

Step 6:

Run the following command Project command

1. roscore

2. roslaunch dynamixel_workbench_controllers dynamixel_controllers_current2.launch

3. rosrun rosserial_python serial_node.py /dev/ttyACM0

4. rosrun dynamixel_workbench_controllers step.py

5. rosrun dynamixel_workbench_controllers smc3_5_new.py

6. python catheter_motion_control2.py