ROS1 and ROS2 launch files for the dVRK video. See https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki for the documentation. The following pages might be of interest: Hardware: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Video-Pipeline GScam: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/GScam Camera calibration: https://github.com/jhu-dvrk/sawIntuitiveResearchKit/wiki/Camera-Calibration