Examples

This section provides step-by-step examples demonstrating how to use SlicerROS2 to connect 3D Slicer with ROS 2 workflows.

For background on the APIs used by these examples, see Topics, Images and Point Clouds, Robot Visualization, and Motion Control.

• PointCloud Subscriber
  • Running the Point Cloud Publisher
  • Visualizing in 3D Slicer
• PointCloud Publisher
  • Creating and Publishing the Point Cloud in 3D Slicer
  • Visualizing in RViz
• MoveIt Obstacle from a Slicer Model
  • Prerequisites
  • Configuration
  • Setting Up the Robot and MoveIt
  • Creating the Obstacle Geometry
  • Placing the Obstacle with a MRML Transform
  • Publishing the Obstacle and Starting the TF2 Broadcast
  • Running the Complete Example from the Terminal
  • Verifying the Obstacle in MoveIt
• MoveIt Custom Tool with Needle Tip
  • Prerequisites
  • Needle Tool
  • Notes
• MoveIt Cartesian Path from Pose Markers
  • Prerequisites
  • Script Setup
  • Planning Through Markers
  • Execution safety