ORL Surgical Planner (ROS 2 Jazzy, WSL)

This cheat‑sheet shows EXACT commands to run in each terminal, plus how to force the overlay if ROS2 can’t find the package (note: the package name is ear_planner, sometimes confused with path_planner).

────────────────────────────────────────────────────────────────────────────── 0) COMMON (run at the START of EVERY terminal) ────────────────────────────────────────────────────────────────────────────── source /opt/ros/jazzy/setup.bash source ~/orlsurg/ros2_ws/install/local_setup.bash export RMW_FASTRTPS_USE_SHM=0 # recommended under WSL cd ~/orlsurg/ros2_ws

Quick sanity checks (optional):

ros2 pkg list | grep ^ear_ || echo "(!) Overlay not loaded" ros2 pkg prefix ear_planner || echo "(!) ear_planner not visible"

──────────────────────────────────────────────────────────────────────────────

1. TERMINAL 1 — Launch all nodes ────────────────────────────────────────────────────────────────────────────── SDF=$(realpath data/mri_processed/sdf_mm.nii.gz) MASK=$(realpath data/mri_processed/canal_mask.nii.gz) ros2 launch ear_planner planning_demo.launch.py sdf_path:=$SDF mask_path:=$MASK

Fallback (absolute path launch if package resolution fails):

ros2 launch ~/orlsurg/ros2_ws/src/ear_planner/launch/planning_demo.launch.py \

sdf_path:=$SDF mask_path:=$MASK

────────────────────────────────────────────────────────────────────────────── 2) TERMINAL 2 — Generate data, then send a planning goal ──────────────────────────────────────────────────────────────────────────────

Generate a synthetic MRI (if you don’t have a real one yet)

python3 ../tools/synthetic_ear.py --out data/mri_raw/synth.nii.gz

2.1 Segmentation -> writes canal_mask.nii.gz

ros2 service call /segment_ear ear_msgs/srv/SegmentEar
"{mri_path: '$(realpath data/mri_raw/synth.nii.gz)'}"

2.2 Centerline + SDF -> writes sdf_mm.nii.gz

ros2 service call /compute_centerline ear_msgs/srv/Centerline
"{mask_path: '$(realpath data/mri_processed/canal_mask.nii.gz)'}"

2.3 Create a simple goal file (edit numbers as you like)

cat > goal.yaml <<'YAML' entry: header: {frame_id: mri} pose: {position: {x: -20.0, y: 0.0, z: 0.0}} target: header: {frame_id: mri} pose: {position: {x: 20.0, y: 0.0, z: 0.0}} tool_diam_mm: 1.5 safety_margin_mm: 0.5 YAML

2.4 Send the goal (with live feedback)

ros2 action send_goal --feedback /plan_path ear_msgs/action/PlanPath "$(cat goal.yaml)"

Optionally, print the path once when it’s published:

ros2 topic echo /planned_path --once

Useful parameters check:

ros2 param get /planner sdf_path ros2 param get /planner mask_path

────────────────────────────────────────────────────────────────────────────── 3) TERMINAL 3 — RViz2 visualization ────────────────────────────────────────────────────────────────────────────── rviz2

In RViz:

Global Options → Fixed Frame = mri

Add → Path → Topic = /planned_path → Style = Lines (Line Width ~0.02)

Press 'r' (Reset) to re-center the camera

If you prefer Fixed Frame = map, publish a static TF and set Fixed Frame = map:

ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 map mri

────────────────────────────────────────────────────────────────────────────── If ROS 2 can’t find the package (force the overlay) ──────────────────────────────────────────────────────────────────────────────

Symptom:

Package 'ear_planner' not found: "package 'ear_planner' not found..."

Fix sequence (paste in the terminal where it fails):

source /opt/ros/jazzy/setup.bash source ~/orlsurg/ros2_ws/install/local_setup.bash export AMENT_PREFIX_PATH=$PWD/install:$AMENT_PREFIX_PATH export CMAKE_PREFIX_PATH=$PWD/install:$CMAKE_PREFIX_PATH

Verify:

ros2 pkg prefix ear_planner

As an immediate workaround, launch by absolute path:

ros2 launch ~/orlsurg/ros2_ws/src/ear_planner/launch/planning_demo.launch.py \

sdf_path:=$(realpath data/mri_processed/sdf_mm.nii.gz) \

mask_path:=$(realpath data/mri_processed/canal_mask.nii.gz)

────────────────────────────────────────────────────────────────────────────── Full rebuild (if the workspace was moved or things look stale) ────────────────────────────────────────────────────────────────────────────── cd ~/orlsurg/ros2_ws source /opt/ros/jazzy/setup.bash rm -rf build/ install/ log/ colcon build --symlink-install --merge-install source install/local_setup.bash

Ensure executables are marked as runnable (only once if needed):

chmod +x src/ear_segmentation/ear_segmentation/segment_node.py
src/ear_centerline/ear_centerline/centerline_node.py
src/ear_planner/ear_planner/planner_action_server.py