Setting Up Additional Software/Files for the Tutorial

Back to Tutorial Home

If you are using the Docker image provided for this tutorial, you can skip this page.

Setting up additional ROS2 packages (dVRK)

Run the following commands to make sure the all packages are installed.

$ sudo apt update
$ sudo apt install python3-vcstool python3-colcon-common-extensions python3-pykdl
$ sudo apt install -y libxml2-dev libraw1394-dev libncurses5-dev qtcreator swig sox espeak cmake-curses-gui cmake-qt-gui  git subversion gfortran libcppunit-dev libqt5xmlpatterns5-dev libbluetooth-dev
$ sudo apt install -y ros-humble-joint-state-publisher* ros-humble-xacro ros-humble-ament-* ros-humble-ign-ros2-control ros-humble-ros2-control* ros-humble-joint-state-broadcaster

Plus Toolkit

We will use the Plus Toolkit library to generate synthetic ultrasound image. The library will be called from the ultrasound simulation plug-in for Gazebo.

First, install dependencies:

$ sudo apt-get install -y libglvnd-dev libqt5x11extras5-dev qtdeclarative5-dev qml-module-qtquick*

Then run the following commands:

$ cd <working directory>/plus
$ cd <working directory>/plus
$ git clone https://github.com/PlusToolkit/PlusBuild.git
$ mkdir PlusBuild-bin 
$ cd PlusBuild-bin
$ cmake ../PlusBuild -DCMAKE_BUILD_TYPE=Release -DCMAKE_INSTALL_PREFIX=<working directory>/plus/install -DPLUSBUILD_INSTALL_VTK=ON -DPLUSBUILD_INSTALL_ITK=ON 
$ make -j4

Install 2024 ROS2 files

The tutorial-specific source codes are available in the GitHub repository.

First, create a workspace:

$ mkdir -p /home/<user name>/ismr24_ws/src
$ cd /home/<user name>/ismr24_ws/src
$ git clone https://github.com/rosmed/ismr24

Then run colcon build in the workspace

$ source /opt/ros/humble/setup.bash
$ rosdep update
$ rosdep install --from-paths src --ignore-src
$ colcon build --cmake-args -DPlusLib_DIR:PATH=<working directory>/plus/PlusBuild-bin/PlusLib-bin -DVTK_DIR=<working directory>/plus/PlusBuild-bin/vtk-bin'