Demo Needle Shape Publisher Node added to needle_shape_publisher package.

[dlezcan1]

A demo needle shape publisher has been uploaded to ros2_needle_shape_publisher package under the devel branch.

Few steps for getting it running

1. Update needle-shape-sensing package via

pip install --upgrade needle-shape-sensing

2. git checkout the devel branch. From the `needle_shape_publisher package run

git checkout -b devel origin/devel

3. Rebuild the needle_shape_publisher package

cd path/to/ros2_colcon_workspace
colcon build --symlink-install --packages-select needle_shape_publisher

4. Launch the demo shape sensing publisher

ros2 launch needle_shape_publisher shapesensing_needle_demo.launch.py needleParamFile:=.<path/to>/needle_shape_publisher/needle_data/needle_3CH_4AA/needle_params_2021-08-16_Jig-Calibration_weighted.json needleDemoDataDir:=<path/to>/needle_shape_publisher/needle_data/demo_shapes/

[dlezcan1]

@lisaepfl I believ this is what you are looking for. Please let me know if there are any issues you may have. I hope this helps.

• The shapes will iterate through some of our shapes from our experiments in tissue for 10 mm increments from 15 -> 125 mm insertion depth.
• Once it reaches 125 mm, it will retract back to 15 mm. This repeats forever.
• This insertion depth will update every 2 seconds.
• The needle poses' orientations will be just the identity matrix, but I could incorporate this to be the actual pose we had if you would like.