I went through the ROSMED tutorials where a robot arm is loaded to perform a needle insertion, my goal is to recreate this action but with another robot arm model, from what i can see in the tutorial, i would need to get the specific stl files from all the robot links AND the transformation matrices…

To visualize the robot in Slicer, you need to have information about position+orientation of each robot part. You send this information from ROS to Slicer. What parameters do you send? Absolute position+orientation, relative transforms, … (see the list above )?

All of what you mentioned is possible and it is your decision how you want things to work. What would you send to Slicer from ROS? OpenIGTLink transform containing absolute position+orientation of each part of the robot arm (in Slicer there is no need for creating any transform tree, just apply th…

Hello Mr Laso, Thanks for your kind reply, in my case i would be sending information about the robot initial -> target pose via MoveIt! (same as described in the RosMed tutorial) therefore i think the information sent would be the 1) absolute position+orientation of each joint (although i might be w…

I think i understand it now, after analyzing the robot in the ROSMED slicer scene and the structure of the project in general, The Position+Orientation of the robot (Homogeneous matrix containing rotational+translational part of each link) is sent with the igtl_exporter.py via the IGTL_Bridge, there…

Hi Cesar, Did you manage to get the integration of your own robot with the ROSMED tutorials working? If so, could you provide me with some guidance on the steps you took to get it working.

Hi Chris, I was able to replace the UR5 robot in the ROSMED tutorials for the Franka-Emika Panda robot, what you need to do first is to setup your robot in moveit, many robots models are available for motion planning in move it, the one i used was luckily one of them, but if you are using one not …

Hi Cesar, I’ve follow your steps but still have not managed to get it working, but I do think I’m on the right track. I’m just going to list the steps that I took on my behalf to give you a better understanding of the situation. This has all been done in my own workspace. I obtained my robot pac…

Hi Cesar, After a bit of tinkering I got it working !!! I’d like to thank you so much for your help. The next step for me is the same for you, getting the needle pathing and planning set up. I think that would just be adding an extra link to the end of the robot (end-effector) and setting it up the…

[image] CHRIS_HUYNH: After a bit of tinkering I got it working !!! Awesome! @Cesar_Puga @CHRIS_HUYNH Could you post a nice screenshot (and acknowledgment text) of what you achieved that we could showcase it the image carousel in Slicer’s upcoming redesigned website? Thank you!

Hi Andras, I’d be happy to provide anything you need :slight_smile: Were there any specific screenshots you would like to have? A screenshot of both ROS Moveit! and 3D slicer on one window? maybe a video? I’ll be working on my project again tomorrow at university so I can send them to you tomorro…

Thank you, all these sound good. Maybe you could upload all to a shared folder somewhere and post the link here.

Configurating Robot arm (Panda - Franka Emika) In slicer

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lassoan (Andras Lasso) September 14, 2020, 12:47pm 14

Perfect, thank you, very nice images.

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Configurating Robot arm (Panda - Franka Emika) In slicer

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