Preparation: Launch SmartTemplate and 3D Slicer

Files are available on the tutorial GitHub repository. The following files for this tutorial are under the smarttemlplate_example directory.

  • AX_T1_VIBE_fs_tra_320.nrrd
  • COR_TSE_T2_COVER_ZFRAME.nrrd
  • ReachableVolume.mrk.json
  • python_console_commands.txt

On the terminal, source the ROS2 workspace contains your SmartTemplate_demo build:

source path_to_ros2_ws/install/setup.bash

Note that, if you are running the tutorial Docker image, path_to_ros2_ws is /root/ros2_ws.

Now, run the Slicer application from the command line. In another terminal window, source your ROS2 workspace again and launch the robot:

source path_to_ros2_ws/install/setup.bash
ros2 launch smart_template_demo robot.launch.py
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