Extend TrackerServer2.cxx and ReceiverServer.cxx example for OpenIGTLink to accommodate them to ROS

[jamesmith]

I read OpenIGTLinkPluginForROS.cpp, but there are some points that I cannot understand.

1. There are two controllers, but each role?

2. I think that _targetposition is fixed with the following source code. line 116 - 117 in OpenIGTLinkPluginForROS.cpp.

   this->target_position_[0] = 3.14*10.0/180.0;
   this->target_position_[1] = 3.14*20.0/180.0;

[ayamada0614]

1. It was come from a special robot design. Don't mind, you can erase one of them.
2. Yes, the target positions in the skeleton code is fixed so far. Your task is to implement OpenIGTLink in this package to make them variables and control them.

[ayamada0614]

Please use transform as a message type for connecting Slicer and ROS.

[jamesmith]

Please tell me the method to transmit a message from Slicer. I have been for only the receiving in Slicer.

[jamesmith]

Did this repository change a private?

[ayamada0614]

You can see how to use OpenIGTLink module to send transformation matrix from Slicer to IGT device and your own software from http://www.slicer.org/slicerWiki/index.php/Slicer_3.6:Training

Please see OpenIGTLink tutorial.

[jamesmith]

OpenIGTLInk tutorial is shown in only the receiving. ( Slicer <- Tracker Client )

[jamesmith]

Is it TrackerServer.cxx not TrackerServer2.cxx to use Transform massage ?

Is the allotment of Joint angle to Transform massage all right in follows?

igtl::Matrix4x4& matrix
float orientation[4];

orientation[0]=base_angle;
orientation[1]=joint1_angle;
orientation[2]=joint2_angle;
orientation[3]=joint3_angle;

//igtl::Matrix4x4 matrix;
igtl::QuaternionToMatrix(orientation, matrix);

[ayamada0614]

You can use TrackerServer.cxx and TrackerServer2.cxx. There is no limitation. You should use elements (0,3), (1,3) and (2,3) to send target angles for each joint.

[jamesmith]

I made SimpleSenderClient first of all. It can send a joint angles from the terminal.

example :

$ ./SimpleSenderClient 127.0.0.1 18944
Input angle [joint1,joint2,joint3] > 10, 20, 30
Sent Transform.
=============
0, 0, 0, 10
0, 0, 0, 20
0, 0, 0, 30
0, 0, 0, 1
=============
Input angle [joint1,joint2,joint3] >

[ayamada0614]

Good!

[jamesmith]

It is the confirmation of the method of rosmake including OpenIGTLink. Is it right in the following procedure?

step.1

Insert the following text to CMakeLists.txt

find_package(OpenIGTLink REQUIRED)
include(${OpenIGTLink_USE_FILE})

step.2

execute following command in SlicerROSIntegrationTraining/build.

$ ccmake ../

step.3

execute following command in _ROSWORKSPACE.

$ rosmake SlicerROSIntegrationTraining

[ayamada0614]

Were you able to execute make command without errors following the procedure you mentioned?

[ayamada0614]

You should insert a line as follows:

target_link_libraries(OpenIGTLinkPluginForROS OpenIGTLink)

[jamesmith]

I succeeded in rosmake by received advice.

[jamesmith]

I add a reception function of target position by OpenIGTLink. I push the changed code. Please check my code.

But, I have not yet added the transmission function.

[ayamada0614]

Please keep updating the code.

[jamesmith]

I add a send function of joint angles by OpenIGTLink. and, I confirmed that I could receive joint angles in Slicer.

Please check my code.