hk_mrc

ROS packes used to interface with the Navion installed in the Multi-Scale Medical Robotics Center in Hong Kong

ROS setup

This repository contains ROS packages that are contained in a ROS workspace overlaying catkin_ws packages created by the MSRL, ETH Zurich located in navion_ws.

Launch files in navion_ws (desktop exectuables)

• Navion RViz: launch Navion 2 with a standard RViz interface
• Navion Fast Rotating Fields: launch Navion 2 with RViz to generate fast rotating fields

Launch files in catkin_ws

In navion_example/launch can be found a collection of ROS launch files. To run the file, open a new terminal and run

roslaunch navion_example <name_of_the_launch_file>

Refer to the README of the navion_example package for a description of the launch files.

RViz plugins

Usage

The user can use the following controls from the panel:

• Go grom READY to RUN state and start pushing currents: click on "Start" (calls the service navion/start_running with req. True)
• Go from RUN and READY state and stop pushing currents: click on "Stop" (calls the service navion/start_running with req. False)
• Recover from an error state: click on "Acknolwedge error" (calls the service navion/reset_system)
• Change the logging modulus: set the modulus in the spin box and click "Set log mod." (calls the service navion/set_logging_modulus with the provided modulus)

Topics

Subscribed

Target currents in each coil in A.

• navion/target_currents ([mag_msgs/CurrentsStamped])

Desired magnetic field.

• backwards_model/field ([mag_msgs/FieldStamped])

Published

Actual magnetic field.

• navion/actual_field ([mag_msgs/FieldStamped])

Actual measured currents in each coil in A.

• navion/actual_currents ([mag_msgs/CurrentsStamped])

Actual state of the system as defined by the enumeration navion::nav_control::NavionState

• navion/actual_state ([std_msgs/UInt8])

System report.

• navion/system_report ([nav_controller/systemreport_navion2])

Services

Run the system

• navion/start_running ([std_srvs::SetBool])

Acknowledge the errors in fault state to reset the system

• navion/reset_system ([std_srvs::Trigger])

Set the modulus for the log

• navion/set_logging_modulus ([nav_controller::msgSetLogMod])

Messages

Currents

• mag_msgs/CurrentsStamped ([float64[] currents])

Magnetic field

• mag_msgs/FieldStamped ([Field field])

Magnetic field vector

• mag_msgs/FieldStamped ([geometry_msgs/Vector3 vector, geometry_msgs/Point position])