This is the main repository of the Smart Needle project. This repository contains:
- Specification of the system (see System Overview)
- ROS master launch file (see Installation and Usage)
Please refer to the System Architecture Page for the detail.
First, clone the following repositories into your ros2 workspace: NeedleGuide, ros2_needle_shape_publisher, trajcontrol and ros2_hyperion_interrogator. Then, go through the Readme of every mentioned repository to install potentially missing requirements.
To run simulation:(Put every simulation level to 1)
ros2 launch system_bringup system.launch.py sim_level:=1 sim_level_needle_sensing:=1 sim_level_trajcontrol:=1 ip:=<demo IP address of the interrogator> numCHs:=<number of FBG channels> numAAs:=<number of FBG active areas per channel> needleParamFile:=<sensorized needle parameter JSON file path>To run with real hardware: (Put every simulation level to 2)
ros2 launch system_bringup system.launch.py sim_level:=2 sim_level_needle_sensing:=2 sim_level_trajcontrol:=2 ip:=<demo IP address of the interrogator> needleParamFile:=<sensorized needle parameter JSON file path>Needle Guide:
- sim_level:=0 : Emulated (dummy nodes) stage and sensors only
- sim_level:=1 : Virtual stage and sensors, simulated in Gazebo (Not yet fully implemented)
- sim_level:=2 : Physical stage and sensors (Depth and rotation sensors currently only emulated)
- sim_level:=3 : Both virtual and physical sensors
Shape-Sensing Needle Node:
- sim_level_needle_sensing:=1 : Launches the demo node: hyperion_demo.launch.py
- sim_level_needle_sensing:=2 :Launches the actual hardware interface node: hyperion_streamer.launch.py
Trajectory control:
- sim_level_trajcontrol:=1 : for system integration demo
- sim_level_trajcontrol:=2 : for real nodes
First, you need to download the python requirements in the ros2_needle_shape_publisher repo by running the command in the ros2_needle_shape_publisher cloned repo directory
pip install -r ./requirements.txt
- Launch the FBG interrogator node to gather the sensor readings:
For the demo node:
ros2 launch hyperion_interrogator hyperion_demo.launch.py ip:=<demo IP address of the interrogator> numCH:=<number of FBG channels> numAA:=<number of FBG active areas per channel> For the actual hardware interface node
ros2 launch hyperion_interrogator hyperion_streamer.launch.py ip:=<demo IP address of the interrogator> - (If connected to hardware) Ensure that the sensorized needle is straight to prepare for sensor calibration
- Perform sensor calibration by launching the
calibrate_sensorsnode
ros2 run hyperion_interrogator calibrate_sensors --ros-args -r __ns:=/needle- Launch the (multi-threaded) shape sensing node. (Look at the ros2_needle_shape_publisher README for information on the parameters)
ros2 launch needle_shape_publisher sensorized_shapesensing_needle_decomposed.launch.py needleParamFile:=path/to/needle_params.json numSignals:=200 optimMaxIterations:=15