Slicer does not recieve any data from ros_igtl_test

[amirhm64]

I can launch the bridge and the test launch and I can send data from slicer to the test node but nothing goes through from test node to slicer.
Somehow the RIBConverter::onROSMessage is not called with new messages.
I am using ROS Kinetic

[Tob19]

Hi amirhm 64,

thank you for using the ROS-IGTL-Bridge.
Can you provide error messages and the Slicer Error Log? Have you tried to publish something to the outgoing topics manually?

Best, Tobias

[amirhm64]

Hi Tobias
strange is that there is no error message in the ROS and in slicer everything is fine. Yes even when i publish manually to the topics (IGTL_transform_OUT for example) it cannot go through. The callback functions (onROSMessage) functions in the converters are not called.

Thanks for your help
AmirH

[ChrisBove]

Also experiencing this issue. @Tob19 Is this actively being examined?

To say much of the same, running the ros_igtl_bridge_test does publish 1 msg to /IGTL_TRANSFORM_OUT, but no data is received in Slicer. I can send transforms and points from Slicer and see them as messages in ROS on IN topics, but not from ROS to Slicer. As amirhm64 pointed out, manually publishing to OUT topics has no effect. There are no logs in Slicer related to problems with OpenIGTLinkIF, and no errors logged in ROS.

System Setup: Ubuntu 16.04, ROS Kinetic, Slicer 4.8

Thanks, Tobias, for supporting this package.

[Tob19]

Sorry for the issue and the late reply, I have fixed the Callback error. If you still have troubles, please let me know.
Thank you so much for your feedback.

Tobias

[ChrisBove]

No problem! Thanks for the fix, Tobias - everything seems to be working as expected now.

There is a problem with the test launch file - you need to terminate the comment flag over the bridge node (line 8).

[ChrisBove]

I noticed that polydata and the image aren't being published in the test node, and the calls to publish them are commented out. Are there plans to update the test with that functionality or any other examples that show how to use the API to publish polydata?

[tokjun]

Thanks for the feedback. Let me check to see how we can organize the example programs.

[tokjun]

I updated the test. Could you try it?

[ChrisBove]

Thanks very much - I'm able to get the published model in slicer now.

That's all I needed. For completeness, it may or may not be worth fixing the following in the test:

• Crash when POLYDATA_IN is published to (callback needs msgToPolyData)
• OCTScan image isn't published. It seems to be commented out since there's no oct_raw.cache located in the repository anymore.

[tokjun]

Thanks for the additional feedback. I'll definitely fix the first item. The second one was originally from the work by @Tob19 and not sure if he wants to keep it in this package or make a separate one.

[tokjun]

I fixed the test code to call msgToPolyData.

[ChrisBove]

Thanks very much for all your help! Things look pretty good.

Is there potentially a missing dependency that will cause the program to crash when trying to render a window with the polydata? Doesn't matter to me, but just curious if this is expected behavior with the installation as described on the ReadMe.

This is what's on the console. Unfortunately, the log file doesn't exist. Looks like it's failing on Show_Polydata

[ INFO] [1512068193.448896214]: [ROS_IGTL_Test] PolyData ROS_IGTL_Test_PolyDa received: 

Number of Points 606275
Number of Strips 237879
Generic Warning: In /build/vtk6-dmAaMa/vtk6-6.2.0+dfsg1/Rendering/Core/vtkPolyDataMapper.cxx, line 28
Error: no override found for 'vtkPolyDataMapper'.

[ros_igtl_bridge_test-1] process has died [pid 9942, exit code -11, cmd /home/user/catkin_ws/devel/lib/ros_igtl_bridge/ros_igtl_bridge_test __name:=ros_igtl_bridge_test __log:=/home/user/.ros/log/1428dbaa-d600-11e7-87c5-90b11c99b478/ros_igtl_bridge_test-1.log].
log file: /home/user/.ros/log/1428dbaa-d600-11e7-87c5-90b11c99b478/ros_igtl_bridge_test-1*.log
all processes on machine have died, roslaunch will exit

Once again, thanks for all the help and support.

[Tob19]

Thank you for your feedback. The polydata and image examples are indeed from a previous project and could be deleted from this package. Since the visualization of images or polydata in ROS is not a standard task (messagetype is/was not defined), I created a vtkwindow to show the polydata and image, but using rviz would also be possible. So importing images and polydata to ROS using the bridge requires customization and depends on how you want to further process the image or the polydata.