Sensors and Control Repository

Getting Started

Prerequisites

For easy installation from Ubuntu terminal, run this like so: ./install_dependencies.sh

For individual installation:

Details

• Ubuntu 20.04 (https://ubuntu.com/tutorials/install-ubuntu-desktop#1-overview)
• ROS

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
sudo apt-get update
sudo apt-get install ros-noetic-desktop-full

• Catkin

sudo apt-get install ros-noetic-catkin

• pcl-conversions

sudo apt-get install ros-noetic-pcl-conversions

• Python3

sudo apt-get update
sudo apt-get install python3

• Tensorflow

pip3 install tensorflow

• libopencv-dev

sudo apt-get install libopencv-dev

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Clone the Repository in your catkin workspace and build:

Details

cd ~/catkin_ws/src
git clone git@github.com:lukuky64/SaC_CATHETER_NAV.git

Navigate to your Catkin workspace and build the project:

cd ~/catkin_ws
catkin_make
source devel/setup.bash

Running the Main Simulation

Details

1. Set the environment variable (replace the path in the quotes with the path to your data folder):

The structure of data folder should be (where * should be integers from 0-n):

root/
└── Aortic_catheter_project/
    ├── Data2_Soft_pullback_1/
    │   ├── Contours/
    │   │   └── *.txt
    │   ├── EM/
    │   │   └── *.txt
    │   └── Images/
    │       └── *.jpg
    └── unused_folders/

export MY_PATH="/home/lukuky64/Desktop/Aortic_catheter_project"

2. Launch the main simulation:

roslaunch main main.launch

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3. Unpause publisher:

rosservice call /set_paused "data: false" 

To pause again:

rosservice call /set_paused "data: true"