Skip to content

Latest commit

 

History

History
47 lines (42 loc) · 3.26 KB

setup_and_launch.md

File metadata and controls

47 lines (42 loc) · 3.26 KB
NOTE FOR BELOW: OpenIGT and ros2 humble already set up in obgynbrachy
NOTE: Tokuda lab members using AMIGO Gadgetron, follow Ubuntu directions ALWAYS
Build OpenIGT (needed for now) from https://openigtlink.org/library/build
For ROS 2 Humble installation and instructions, see: https://docs.ros.org/en/humble/Installation.html and https://docs.ros.org/en/humble/Tutorials.html

################### Launch Directions ###########################################################

Author: Rajdeep Banerjee, MEng, Research Trainee in Brigham and Women's Hospital Radiology Department, Tokuda Lab, 75 Francis St, Boston, MA, 02115

Supervisors: Dr. Mariana Bernardes (Direct) and Dr. Junichi Tokuda (PI)

########### Package branches TODO: Make working version main ########################### ~$ mkdir -p <dir_name>/src ~$ cd <dir_name>/src ~/<dir_name>/src$ git clone -b slicer_manual_mod https://github.com/smart-needle-manual/ros2_igtl_bridge.git ~/<dir_name>/src$ git clone -b ros_param_manual_trigger https://github.com/smart-needle-manual/ros2_needle_shape_publisher.git ~/<dir_name>/src$ git clone https://github.com/smart-needle-manual/ros2_hyperion_interrogator.git ~/<dir_name>/src$ git clone https://github.com/smart-needle-manual/3DoFSmartTemplate-ROS.git ~/<dir_name>/src$ git clone -b slicer_mod_manual https://github.com/smart-needle-manual/trajcontrol_jhu.git

#Turn ON hyperion interrogator black box. Blue light should be emitting from black box, and blue blinking should be coming from right side of PC (face the monitor) #DO NOT forget to test Hyperion Interrogator. If this is not working, ensure that optical and computer connections are secure, that ens1f1 is set to Hyperion, and that ens1f1 Hyperion is set to 10.0.0.56 in Settings (see top right of computer screen). The idea is: same network, different IP (n+1 rule).
#New terminal cd .. cd .. cd HyperionInterrogator pyton3 plotFBGSpectra.py 10.0.0.55 #Prepare to run launch files for needle shape sensing cd smart_needle_manual cd src

If build not done (remove build, install, log, and build from src): colcon build --cmake-args -DOpenIGTLink_DIRR:PATH:=~/OpenIGTLink-build

#In a new terminal . install/setup.bash ros2 launch trajcontrol jhu_needle.launch.py manual_mode:=True #In a new terminal . install/setup.bash ros2 run hyperion_interrogator calibrate_sensors --ros-args -r __ns:=/needle #Hit Slicer settings like icon in ~/Slicer-5.8.1-linux-amd64$ #In a new terminal (ideal) ros2 launch ros2_igtl_bridge bridge.launch.py #Use dropdown menu in Slicer to go to IGT > SmartNeedle #Create new Linear Transform Start Client #In a new terminal (best). This default command should work. ros2 topic pub /stage/state/needle_pose geometry_msgs/PoseStamped "{header: {frame_id: 'needle'}, pose: {position: {x: 0.0, y: 0.0, z: 200.0}, orientation: {x: 0.0, y: 0.0, z: 0.0, w: 1.0}}}" & ros2 topic pub /needle/state/skin_entry geometry_msgs/Point "{x: 0.0, y: 0.0, z: 0.0 }" & wait #Deform the needle (gently, at tip not mroe than 20 degrees to preserve elastic deformation). WAIT 20 SECONDS ON FIRST DEFORMATION---it takes some time. ################################################### Do not panic. All files are available on github if issues arise with modifications. #####################################