SlicerROS2

SlicerROS2 connects 3D Slicer with ROS 2 for robot visualization, ROS topic/service/parameter integration, and image-guided robotics workflows.

Start with the overview and build instructions if you are new to the project. Use the tutorials for complete workflows, and the reference pages when you need details about MRML ROS nodes or testing.

Overview

• What Is It
• Where To Go Next
• Acknowledgment
• Publications
• Documentation

Installation and Launch

• Compatibility
• Getting Started
  • Pre-requisites
  • Versions
  • Compiling Slicer
  • Compilation
  • Loading the module
  • Managing Extensions
• Launching Slicer
  • Wrapper vs Launch File
  • Passing Arguments
  • Extension Paths

Tutorials

• Robot Visualization
  • ROS Robot
  • Slicer Robot
• Motion Control
  • Getting Started
  • Planning and execution
  • MoveIt Scene Synchronization
• Examples
  • PointCloud Subscriber
  • PointCloud Publisher
  • MoveIt Obstacle from a Slicer Model
  • MoveIt Custom Tool with Needle Tip
  • MoveIt Cartesian Path from Pose Markers

User and Developer Guide

• MRML ROS Nodes
  • Design
    • C++ vs Python
    • Execution Model
    • Templates vs Inheritance
    • Code generation
    • Coordinate Systems and Units
  • Nodes
  • Topics
    • Publishers
    • Subscribers
    • Quality of Service (QoS)
  • Services
    • Clients
    • Servers
  • Parameters
  • TF2
    • Broadcasts
    • Lookups
  • Images and Point Clouds
    • Explicit Bridging
    • Images
    • Point Clouds
  • Robots
• CI Docker Image
  • Build Locally
  • Push To GHCR

Testing and Troubleshooting

• Caveats
  • Missing features
  • 3D Slicer extensions
  • Loading the module
• Common Errors
  • Slicer_DIR Not Found
  • Missing ROS Packages
  • Wrong Python Environment
  • SlicerROS2 Module Does Not Appear
  • MoveIt Controls Are Disabled
  • No Joint States Received
• Tests
  • Running the unit tests

References

• General
• Workshops
• Tutorials