Which files would I need to modify to replace the UR5 robot with my ABB IRB 120 robot?

[CHRIS_HUYNH]

Continuing the discussion from Is there a way to integrate 3D slicer and ROS?:,

Hi,

I’ve gone through Junichi Tokuda’s tutorial on how to integrate ROS and 3D slicer for planning purposes, but I now want to integrate my own robot model instead of using the model provided in the tutorials. Which ROS files/scripts (or 3D Slicer files/scripts) would I need to modify in order to fully replace the UR5 robot transformations with my own robot transformations? and is there a specific way I have to set up my Linear Transformations for my robot links in 3D slicer in order to get the 3D Slicer and ROS integration fully functional?

Thank you.

[lassoan (Andras Lasso)]

You can download the ABB IRB 120 robot model with all transformations set up in Slicer from the link at the end of this post:

How do I add robot arm STL into a scene?

Also make sure the STL uses mm as coordinate system units (or scale it using a transforms module). Note that you can also animate the robot (simulate rotation around each joint) if you load each section of the robot as a separate model, with the rotation joint in the origin. You just need to create a hierarchy of transforms in Transforms module and add each model at the appropriate level in the transform tree. I’ve uploaded a short video of ABB IRB 120 robot visualization in Slicer: […

There is nothing specific to Slicer in this. You transform between different joint coordinate systems the same way as you do it for the robot’s path planning.

[CHRIS_HUYNH]

Hi Andras,

Thank you for your response. I’ve downloaded that scene but when I load it up, I dont see the model. I do see the list of imported STL’s in the “model module” however, I just dont see the actual robot in the scene itself.

Thanks

[lassoan (Andras Lasso)]

I’ve just checked again and the .mrb file works well. Make sure you use a recent Slicer Preview Release.