5. Limitations

  • We only support STL and OBJ meshes for the visual defined in the URDF. If any visual is defined using a geometry (sphere, box…) or another mesh format, it will not be displayed in Slicer

  • ROS namespaces are not supported yet. The current implementation allows multiple nodes but doesn’t provide a parameter to set the ROS namespace. Let us know if this is something you need.

  • The following ROS functionalities are missing:

    • Services

    • Parameter server (vtkMRMLROS2ParameterNode only works as a client)

  • The current implementation assumes that all ROS2 nodes (vtkMRMLROS2NodeNode) added to the scene should be spun by the module’s logic. This doesn’t provide an option for users to control how their ROS2 nodes spin (including rate).

  • Saving and reloading the scene as a MRML scene has not been extensively tested and might not work.