Needle Insertion Experiment Setup in ROS 2

System for ROS 2 needle insertion experiment at JHU for automatic shape-sensing FBG Needle insertion

For System architecture, go to the System Architecture page.

Package Contents

• sm130_interrogator_cpp: C++ implementation of sm130 Micron Optics FBG Interrogator (Not in use and not fully implemented)
• sm130_interrogator_py: Python implementatin of sm130 Micron Optics FBG Interrogator (In use and functional)
• needle_insertion_robot: Galil Motion Controller Robot for Hardware implementation of 4-axis needle insertion robot
• needle_insertion_robot_translation: needle_insertion_robot ROS 2 wrapper for state publishing and implementation of action server for out-of-plane control.
• needle_shape_publisher: Python implementation of needle shape-sensing package
• insertion_point_publisher: Python publisher for static publishing of needle insertion point. This is for system integration, primarily.

Launching System

Entire System

To launch the entire system, use:

  ros2 launch needle_insertion_experiment system.launch.py \
       sim_level_needle_sensing:=<1 - demo sensing, 2 - real hardware sensing, Default=1> \
       interrogator_ipAddress:=<IP address of FBG Interrogator, Default=192.168.1.11> \
       robot_ipAddress:=<IP Address of Galil controller, Default=192.168.1.201> \
       needle_needleParamFile:=<Needle param JSON file w.r.t. needle_shape_publisher share/config file, Default=3CH-4AA best calibration JSON file> \

Launching will include:

1. Needle Insertino Robot
2. Needle Insertion Robot Translation Node
3. Needle Insertion Robot Translation Action Server
4. FBG Interrogator
5. Sensorized Shape-Sensing Needle
6. Insertion Point Publisher

Robotic Insertion Stage

Launching the robotic insertion stage is as follows:

  ros2 launch needle_insertion_experiment stage.launch.py robot_ipAddress:=<IP Address of Galil Controller>

This will launch the following in the same ROS 2 namespace (by default: /stage)

1. Needle Insertion Robot
2. Needle Insertion Robot Translation Node (For system integration)
3. Needle Insertion Robot Translation Action Server (For system Integration)

Needle and FBG Interrogator

Launching the shape-sensing needle can be performed without using any arguments with default arguments. Default needle used is a 3 CH, 4 AA needle primarily used needle insertion experiments at this point.

  ros2 launch needle_insertion_experiment needle.launch.py

With arguments:

  ros2 launch needle_insertion_experiment needle.launch.py \
      sim_level_needle_sensing:=<1,2, Default=1> \
      needleParamFile:=<JSON parameter file in share lib, Default=3CH-4AA-0004 best calibration> \
      numSignals:=<Value greater than 0, Default=200> \ 
      optimMaxIteationsr:=< Value greater than 1, Default=15> \
      interrogatorIP:=<IP address of interrogator, Default=192.168.1.11> \
      interrogatorParamFile:=<YAML param file in shapre lib, default=None>

Arguments are as follows

• sim_level_needle_sensing: 1 for demo needle shape publishing, 2 for real hardware interfaces. This path is relative to needle_shape_publisher share folder.
• needleParamFile: JSON parameter file for needle shape-sensing package to load shape-sensing needle.
• numSignals: Number of signals to perform calibration of signals and to keep on a moving average for curvature windowing.
• optimMaxIterations: Number of iterations for optimization to stop optimizing. Lower is faster, higher is more accurate
• interrogatorIP: IP address of the sm130 interrogator.
• interrogatorParamFile: ROS 2 parameter file to override other ROS 2 parameters for sm130 interrogator. This path is relative to sm130_interrogator_py share folder.