Difference between revisions of "2016 Summer Project Week/Integrating/Using OpenIGTLink for the communications of Robotics devices"
From NAMIC Wiki
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*Design and implement a generic interface for using OpenIGT commands in MeVislab network layer. | *Design and implement a generic interface for using OpenIGT commands in MeVislab network layer. | ||
**Create Client /Server | **Create Client /Server | ||
− | ***Host name(IP), show status, connection time out | + | ***Host name(IP), port, show status, connection time out, start/stop |
**Define Datatypes: Vector position, Status, etc.. | **Define Datatypes: Vector position, Status, etc.. | ||
**Communication: Send and recieve and save: | **Communication: Send and recieve and save: | ||
− | ***Massages | + | ***Massages and nr. of massages |
***Data-sets | ***Data-sets | ||
***Images | ***Images |
Revision as of 09:55, 10 June 2016
Home < 2016 Summer Project Week < Integrating < Using OpenIGTLink for the communications of Robotics devicesKey Investigators
- Scheherazade Kraß
- Longquan Chen
Project Description
Objective
- Obtaining a better understanding of OpenIGTLink:
- How to use and integrate it in different robotic devices using:
- MeVisLab applications
- Slicer
Approach, Plan
Robotic Devices
- Defining different workflows for communication between robotic device and MeVislab applications, including sending/receiving strings, image sets and control commands for:
- The Kuka LBR robot used in a MeVislab based research project.
- The MRI compatible Manipulator, a 5 DoF robot for performing transrectal prostate biopsies.
- Defined Scenarios:
- Workflow01:
- Ask for the status of the robotic device
- Get the current position of the device tip
- Send commands to the robot (simulator) to get to the new target position
- Set /ask/ retrieve time stamps
- Workflow01:
MLab Interface
- Design and implement a generic interface for using OpenIGT commands in MeVislab network layer.
- Create Client /Server
- Host name(IP), port, show status, connection time out, start/stop
- Define Datatypes: Vector position, Status, etc..
- Communication: Send and recieve and save:
- Massages and nr. of massages
- Data-sets
- Images
- Sending control commands
- loggs: showing, saving
- Create Client /Server
Progress
- to be defined in the project week.