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Connecting_Slicer_and_ROS

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Junichi Tokuda edited this page Mar 21, 2019 · 3 revisions

Connecting 3D Slicer with ROS

Make sure that the following components are running:

  • ROS Computer
    • The universal robot on rviz
    • IGTL Exporter
    • ROS-IGTL-Bridge
  • Slicer Workstation
    • 3D Slicer

Now we connect 3D Slicer with ROS from the OpenIGTLinkIF module as we have tested in the previous step. Open the OpenIGTLinkIF module (Modules menu-> "IGT" -> "OpenIGTLinkIF"). Then create a new node by clicking the "+" button under the "Connectors" list, and configure it from the "Properties" section as follows:

  • Name: "IGTLConnector" (default)
  • Type: "Client" (default)
  • Status: Leave unchecked (default)
  • MRMLNodeAlgorithm: Leave unchecked
  • Hostname: localhost (if Docker is used) or the IP of the ROS machine (for non-Docker environment)
  • Port: 28944 (if Docker is used with "-p 28944:18944" option) or 18944 (default for non-Docker environment

After configuring the connector, click the "Active" checkbox. If the 3D Slicer is successfully connected to ROS-IGTL-Bridge, the status field on the connector list of the OpenIGTLinkIF will show "ON."

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