INSTALLATION.md

Overview

The project consist of two parts:

• 3D Slicer ROS Module, and
• AMBF simulation plugin of a robot for 3D Slicer.

The 3D Slicer ROS Module handles the information and communication via ROS. The AMBF simulator Plugin is capable of publishing robot states and robot visualization materials to ROS for the 3D Slicer Module to accquire.

1.Installation

1.1 Install ROS Noetic

See ROS Wiki Link

1.2 Install and build AMBF2.0

Clone and build AMBF2.0

git clone https://github.com/WPI-AIM/ambf.git
cd ambf
git checkout -b ambf-2.0 origin/ambf-2.0
git pull

Build and source ambf (make sure you're on branch ambf-2.0 before building) as per the instructions on AMBFs wiki

1.3 Install and build 3D Slicer

See build instructions Here

1.4 Clone and build Slicer_ROS_Extension with AMBF

1.4.1 Clone the repo

git clone https://github.com/LCSR-CIIS/Slicer_ROS_Extension.git

1.4.2 Build Slicer_ROS_Extension

cd 3D-Slicer_ROS_Module_with_AMBF
mkdir Slicer_ROS_Extension-debug
cmake -DCMAKE_BUILD_TYPE:STRING=Debug -DSlicer_DIR:PATH=/path/to/Slicer-SuperBuild-Debug/Slicer-build ../Slicer_ROS_Extension
make
cd ../

1.4.3 Build AMBF_Plugin_3DSlicer

cd AMBF_Plugin_3DSlicer
mkdir build
cd build 
cmake ..
make

If no error is shown, the the installation is done.

2.Running the 3D Slicer ROS Extension with AMBF

In order for the 3D Slicer ROS Extension and AMBF to work, roscore needs to be running.

roscore

2.1 Launch the AMBF Simulator with the Slicer Plugin

cd <path-to-ambf>/bin/lin-x86_64
./ambf_simulator --launch_file <path-to-3d-slicer-ros-module-with-ambf>/AMBF_Plugin_3DSlicer/ADF/launch.yaml -l 0,2

Note that the parameter in the last line -l 0,2 means to launch the simulation world with item 0 and item 2. Items are defined in the launch.yaml file. In this case, 0 is the surgical robot system and 2 is a skull model. If successful, you should be able to see the AMBF simulation window pop up with a Surgical Robot and a Skull model.

2.2 Launch the 3D Slicer

Navigate back to the project directory

cd Slicer_ROS_Extension-debug
./SlicerWithSlicerROSExtension

After the 3D Slicer is launch, click on the drop down manual, select Examples -> ROS1_Module. In the AMBF simulator, press P to enable Pick tool. You can drag items around by using mouse. You should now see the scene is now in sync with the AMBF simulator.