From 7ea3424b3067ce3746a48788b24141d2c258e9a4 Mon Sep 17 00:00:00 2001 From: Simon Leonard Date: Fri, 28 Jun 2024 09:42:13 -0400 Subject: [PATCH] Update README.md Added simulation contribution --- PW41_2024_MIT/Projects/IntegrationOfSlicerAndRos/README.md | 6 ++++-- 1 file changed, 4 insertions(+), 2 deletions(-) diff --git a/PW41_2024_MIT/Projects/IntegrationOfSlicerAndRos/README.md b/PW41_2024_MIT/Projects/IntegrationOfSlicerAndRos/README.md index 6c907cae0..4d716fcf9 100644 --- a/PW41_2024_MIT/Projects/IntegrationOfSlicerAndRos/README.md +++ b/PW41_2024_MIT/Projects/IntegrationOfSlicerAndRos/README.md @@ -76,7 +76,8 @@ Questions discuss during the week: 1. Allow to create subscribers and publishers using short names, i.e. `String` vs `vtkMRMLROS2PublisherStringNode` 1. Added method to list all existing publishers and subscribers 1. When user tries to create a publisher or subscriber with invalid name, display list of option (good for typos) - 1. Publishers and subscribers now have method `GetBlankMessage` so it's easier to create a payload in Python + 1. Publishers and subscribers now have method `GetBlankMessage` so it's easier to create a payload in Python + 1. Create a self-contained ROS2 package for US similuator in Gazebo that builds a minimal version of PlusLib/IGSIO/vtkAddon that contains launch models and launch files to teleoperate a UR-5 mounted with a US probe. 1. Discussions 1. Possible feature requests for Slicer 1. Saved history in Python interpreter (like iPython) @@ -84,7 +85,8 @@ Questions discuss during the week: 1. Distribution(s), pros and cons from user perspective 1. Continue as-is, i.e. source code and users have to compile the module. Pros: can add new messages. Cons: have to compile Slicer from scratch, extensions are not available to download from kitware servers. 1. Binary distribution with ROS2 core libraries added to Slicer super build. Pros: ready to use, might even provide ROS2 support from Windows, MacOS, any linux instead of Ubuntu only. Cons: harder to add custom messages without a compiler - 1. Binary (bis). If we figure out how to "super build" ROS2 core libraries (`rclcpp`), why not provide the Python wrappers too (`rclpy`) as a pip build. At that point, could port existing features from C++ to Python. A ROS2 pip build could be used outside Slicer. + 1. Binary (bis). If we figure out how to "super build" ROS2 core libraries (`rclcpp`), why not provide the Python wrappers too (`rclpy`) as a pip build. At that point, could port existing features from C++ to Python. A ROS2 pip build could be used outside Slicer. + 1. Simulate and evaluate US/Robot hand-eye calibration by inserting probe in the simulated image and then compare results to ground-truth from the simulation. Adding reference 3D markers to make the simulation more relevant to clinical applications. 1. Next steps 1. Investigate simple options to make source based distribution easier: provide Slicer and Slicer-SuperBuild, document how to compile and add extensions 1. For any binary distribution, how hard would it be to compile all ROS2 dependencies from source for "super-building" or "piping" them