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CHANGELOG.md

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v1.0

  • Last version known to work with Ubuntu 20.04
  • Tested on 20.04, 22.04 and 24.04
  • Binaries are now installed in Slicer build tree so users don't have to modify the module search path in Slicer
  • Added code generation to automatically create vtk object mimicking ROS messages, also generates conversion methods between ROS and Slicer. New subscribers and publishers can be added in the MRML/CMakeLists.txt
  • For robot visualization, added "fixed frame" to allow setting a different name for the reference frame
  • crtl+c now stops slicer to be more ROS-like
  • Tests now detect the ROS version and should work on Galactic, Humble and Jazzy
  • Added methods to list registered (existing) publisher and subscriber nodes
  • CreateAndAdd{Publisher,Subscriber}Node overloaded to accept short name (e.g. String instead of vtkMRMLROS2PublisherStringNode

v0.9

SlicerROS2 now supports ROS publishers and subscribers, Tf2 broadcasts and lookups as well as parameters (client). The robot visualization is built on top of the parameter client (to retrieve the URDF) as well as Tf2 lookups (to move the robot's links).

Each ROS communication mechanism is encapsulated in a MRML node. These can be used in C++ as well as Python. Some simple unit tests are included in the accompanying module ROS2Tests.

Detailed documentation is available on readthedocs: https://slicer-ros2.readthedocs.io/en/latest/