Getting Started¶
Pre-requisites¶
ROS 2 (tested using ubuntu 20.04 and ROS2 Foxy or Galactic).
Slicer built from source is required to build an extension, see Slicer build instructions. Remember the build directory for Slicer, it will be needed to compile the Slicer ROS 2 module.
Warning
Make sure we use the system/native OpenSSL libraries
otherwise you’ll get some errors when compiling the
Slicer ROS 2 module. After you ran CMake, in the Slicer
build directory, set Slicer_USE_SYSTEM_OpenSLL
ON
using cmake . -DSlicer_USE_SYSTEM_OpenSSL=ON
or ccmake
.
Note
Older Slicer Make sure CMAKE_CXX_STANDARD
is set to 14
(required to compile Slicer code along ROS 2).
Compilation¶
This code should be built with colcon
as a ROS2 package.
For now, we will assume the ROS workspace directory is ~/ros2_ws
and
the source code for this module has been cloned under ~/ros2_ws/src/slicer_ros2_module
.
You will first need to source the ROS setup script for ROS 2 (foxy or galactic):
source /opt/ros/galactic/setup.bash
Then build the module using colcon while providing the path to your Slicer build directory:
cd ~/ros2_ws
colcon build --cmake-args -DSlicer_DIR:PATH=/home/your_user_name_here/something_something/Slicer-SuperBuild-Debug/Slicer-build
Note
The -DSlicer_DIR...
option is only needed for the first colcon build
.
If you prefer to use CMake (ccmake
) instead of passing the Slicer_DIR
on the colcon command line,
you can run colcon build
once and then run ccmake
on the slicer_ros2_module
build directory.
Warning
You should see the following error messages if the Slicer_DIR
is not set properly (or if Slicer has not been built from scratch):
Could not find a package configuration file provided by "Slicer" with any
of the following names:
SlicerConfig.cmake
slicer-config.cmake
If you see this message, run CMake on the build directory for
slicer_ros2_module
using ccmake ~/ros2_ws/build/slicer_ros2_module
.
In CMake, set Slicer_DIR
to point to your Slicer build directory
then hit c
to configure until you can hit g
to generate the makefiles.
Then try to colcon build
again (after cd ~/ros2_ws
).