SlicerROS2

Contents:

• 1. Introduction
  • 1.1. Overview
  • 1.2. Acknowledgment
  • 1.3. Publications
• 2. Getting Started
  • 2.1. Pre-requisites
  • 2.2. Compilation
  • 2.3. Loading the module
• 3. Robot Visualization
  • 3.1. Overview
  • 3.2. ROS Robot
    • 3.2.1. Phantom Omni
    • 3.2.2. dVRK PSM
    • 3.2.3. Cobot
  • 3.3. Slicer Robot
• 4. MRML ROS Nodes
  • 4.1. Design
    • 4.1.1. Introduction
    • 4.1.2. C++ vs Python
    • 4.1.3. Execution Model
    • 4.1.4. Templates vs Inheritance
    • 4.1.5. Code generation
    • 4.1.6. Coordinate Systems and Units
  • 4.2. Nodes
  • 4.3. Topics
    • 4.3.1. Publishers
    • 4.3.2. Subscribers
  • 4.4. Parameters
  • 4.5. Tf2
    • 4.5.1. Broadcasts
    • 4.5.2. Lookups
  • 4.6. Robots
• 5. Caveats
  • 5.1. Missing features
  • 5.2. Compiling 3D Slicer extensions
• 6. Tests
  • 6.1. Introduction
  • 6.2. Running the unit tests
• 7. Links