NA-MIC Project Weeks
Back to Projects List
SlicerROS2
Key Investigators
- Junichi Tokuda (Brigham and Women's Hospital, USA)
- Laura Connolly (Queen's University, Canada)
- Anton Deguet (Johns Hopkins University, USA)
- Arvind S. Kumar, (Johns Hopkins University, USA)
Project Description
The goal of SlicerROS2 is to provide an open-source software platform for medical robotics research. Specifically, the project focuses on architectures to seamlessly integrate a robot system with medical image computing software using two popular open-source software packages: Robot Operating System (ROS) and 3D Slicer.
Objective
- Demo - Set up a live demo using SlicerROS2 and myCobot.
- Dissemination - Review and improve online documentation for rosmed.github.io
- Plan - Discuss future directions and maintenance (other potential projects, integration into nightly build, etc).
Approach and Plan
- Set up a build environment on a laptop with Ubuntu 22.04
- Set up myCobot
Progress and Next Steps
- Set up ROS2 Humble Hawksbill on Ubuntu 22.04 ROS2 Humble Installation on Ubuntu (Debian)
- Built the SlicerROS2 estension Slicer ROS2 Getting Started
- The Slicer ROS2 could not be compiled due to an issue in the CMakeLists.txt. It has been fixed and incorporated into the main repository (pull request on GitHub )
- Set up ROS interface for myCobot Github repository
- Change the name of the device file in line 14 in listen_real.py (‘/dev/5yUSB0’) to ‘/dev/5yACM0’.
- Replace the robot model in the ros interface.
- Launch the interface by:
ros2 launch mycobot_280 slider_control.launch.py
Illustrations
Background and References
The National Institute of Biomedical Imaging and Bio-engineering of the U.S. National Institutes of Health (NIH) under award number R01EB020667, and 3R01EB020667-05S1 (MPI: Tokuda, Krieger, Leonard, and Fuge). The content is solely the responsibility of the authors and does not necessarily represent the official views of the NIH.
The National Sciences and Engineering Research Council of Canada and the Canadian Institutes of Health Research, the Walter C. Sumner Memorial Award, the Mitacs Globalink Award and the Michael Smith Foreign Study Supplement.