Using the Slicer ROS 2 module¶
In a terminal navigate to your Slicer inner build directory (cd
). Then:
source ~/ros2_ws/install/setup.bash # or whatever your ROS 2 workspace is
# you can ignore the error message related to slicer_ros2_module/local_setup.bash
./Slicer
Note
The first time you run Slicer, you need to add the module directory should be in the application settings so that it can be loaded.
- To do so, open Slicer and navigate through the menus:
Edit → Application Settings → Modules → Additional module paths → Add:
~ros2_ws/build/slicer_ros2_module/lib/Slicer-4.13/qt-loadable-modules
- At that point, Slicer will offer to restart. Do so and then load the module using the button:
Modules → Examples → Ros2
The module’s interface will appear on the left side of Slicer.
You should leave the first two drop-down menus as-is, i.e.
State
should be tf2
and Description
should be parameter
.
The defaults /robot_state_publisher
and robot_description
should work
for most cases so leave these as-is too.
To activate your selection, just hit “Enter” in the /robot_state_publisher
box.
Please note that we plan to improve this user interface.
At that point, the robot’s model should be loaded and displayed in Slicer.