SlicerROS2 Setup - Ubuntu 24.04 (ROS2 Jazzy)

This page provides detailed manual installation instructions for all software components needed for this tutorial. Note: If you’re using the Docker image as mentioned in the Prerequisites, you can skip these installation steps.

Follow this guide if you prefer to set up the environment manually on your Ubuntu 24.04 system:

ROS2 Jazzy

  • Download and install ROS2 Jazzy - Instructions
  • Other requirements:
sudo apt-get install ros-dev-tools
sudo apt-get install ros-jazzy-xacro
sudo apt-get install ros-jazzy-tf2-geometry-msgs
sudo apt-get install ros-jazzy-object-recognition-msgs
sudo apt-get install ros-jazzy-moveit
sudo apt-get install python3-colcon-common-extensions

3D Slicer with SlicerROS2

To use SlicerROS2, we must use a compiled version of 3D Slicer.

3D Slicer

To build 3D Slicer, folloing tools and libraries must be installed in the system:

sudo apt update && sudo apt install git git-lfs build-essential \
libqt5x11extras5-dev qtmultimedia5-dev libqt5svg5-dev qtwebengine5-dev \
libqt5xmlpatterns5-dev qttools5-dev qtbase5-private-dev libxt-dev

To build 3D Slicer for SlicerROS2, follow the instruction in SlicerROS2’s Read the Doc page

Attention: Before you start compiling 3D Slicer, make sure to use the system/native OpenSSL libraries; otherwise, you’ll get some errors when compiling the SlicerROS2 module.

SlicerROS2

SlicerROS is available at https://github.com/rosmed/slicer_ros2_module. To build SlicerROS2, follow the instruction in SlicerROS2’s Read the Doc page

Files for Smart Template Demo

The following 3D Slicer extensions are required for the Smart Template Demo

Additionally, the SmartTemplate demo package is required.

mkdir -p ~/ros_ws
cd ros_ws
mkdir src
cd src
git clone https://github.com/maribernardes/ros2_smart_template_demo
cd ~/ros_ws
source /opt/ros/jazzy/setup.bash
colcon build

Files for AMBF Demo

Before installing additional extensions, install the following libraries in the system:

sudo apt-get install libxcursor-dev
sudo apt-get install libxinerama-dev
sudo apt-get install libasound2-dev libgl1-mesa-dev xorg-dev
sudo apt-get install libusb-1.0.0-dev

Setup AMBF in the ROS workspace:

mkdir ambf_ws; cd ambf_ws; mkdir src; cd src;
git clone https://github.com/LauraConnolly/ambf
cd ambf
git checkout ros2-support
cd ~/ambf_ws
source /opt/ros/jazzy/setup.bash
colcon build

You might have to run this build a few times so the packages build in order!

The following 3D Slicer extensions are also required.

Back to Prerequisites Back to Workshop page