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Recent Releases of slicer_ros2_module

slicer_ros2_module - v1.0

v1.0

  • Last version known to work with Ubuntu 20.04
  • Tested on 20.04, 22.04 and 24.04
  • Binaries are now installed in Slicer build tree so users don't have to modify the module search path in Slicer
  • Added code generation to automatically create vtk object mimicking ROS messages, also generates conversion methods between ROS and Slicer. New subscribers and publishers can be added in the MRML/CMakeLists.txt
  • For robot visualization, added "fixed frame" to allow setting a different name for the reference frame
  • crtl+c now stops slicer to be more ROS-like
  • Tests now detect the ROS version and should work on Galactic, Humble and Jazzy
  • Added methods to list registered (existing) publisher and subscriber nodes
  • CreateAndAdd{Publisher,Subscriber}Node overloaded to accept short name (e.g. String instead of vtkMRMLROS2PublisherStringNode

- C++
Published by adeguet1 about 1 year ago

slicer_ros2_module - Initial release of new architecture

SlicerROS2 now supports ROS publishers and subscribers, Tf2 broadcasts and lookups as well as parameters (client). The robot visualization is built on top of the parameter client (to retrieve the URDF) as well as Tf2 lookups (to move the robot's links).

Each ROS communication mechanism is encapsulated in a MRML node. These can be used in C++ as well as Python. Some simple unit tests are included in the accompanying module ROS2Tests.

Detailed documentation is available on readthedocs: https://slicer-ros2.readthedocs.io/en/latest/

- C++
Published by adeguet1 almost 3 years ago

slicer_ros2_module - v0.1

Initial public release. This version is a proof of concept. It demonstrates that one can create a C++ 3D Slicer module than can also be linked with the ROS2 libraries (rclcpp). This version shows that it is possible to retrieve a robot description using ROS2 parameters, load and parse said description (URDF) and then rely on ROS2 Tf2 to update the position of each link. It also contains some code to synchronize transformations between the Slicer MRML scene and ROS2 Tf2.

- C++
Published by adeguet1 almost 3 years ago