Old diagram can be found on Miro
| Component | Topic | Message Type | Description | Coordinate Frame |
|---|---|---|---|---|
| UI | /subject/state/skin_entry | geometry_msgs/msg/Point | The needle entry point on the skin; measured by intraoperative images. | Stage |
| /subject/state/target | geometry_msgs/msg/Point | The target point in the subject; defined on intraoperative images. | Stage | |
| /stage/cmd/parameters | std_msgs/msg/String | TBD | ||
| /stage/cmd/control | std_msgs/msg/String | TBD | ||
| Trajectory control | /stage/state/needle_pose | geometry_msgs/msg/PoseStamped | The needle absolute insertion depth in the stage coordinate frame. In this implementation, the absolute depth is defined by y, while x- and z- positions are zero and the rotation is the unit quaternion (1,0,0,0). | Stage |
| /stage/control/cmd | geometry_msgs/msg/PointStamped | The desired stage pose to compensate needle tip error. In this implementation x- and z-positions are the desired horizonal and vertical of the stage, respectively. y-position in the desired insertion depth to be manually performed at the next insertion step | Stage | |
| Shape model | /needle/state/predicted_shape | geometry_msgs/msg/PoseArray | The predicted needle shape as an array of positions and directions (i.e., poses) of needle sections (0.5-mm increment). Not Implemented | Stage |
| /needle/state/current_shape | geometry_msgs/msg/PoseArray | The estimated needle shape as an array of positions and directions (i.e., poses) of needle sections (0.5-mm increment). | Stage | |
| /needle/sensor/raw | std_msgs/msg/Float64MultiArray | Raw FBG sensor data | Needle | |
| /needle/sensor/processed | std_msgs/msg/Float64MultiArray | Processed FBG sensor data | Needle | |
| /needle/state/curvatures | std_msgs/msg/Float64MultiArray | Curvatures measured from each of the active areas. | Needle | |
| Stage | /needle/state/pose | geometry_msgs/msg/PoseStamped | The needle pose. In this implementation, the pose is defined only by the needle insertion depth (y) and the rotation about the y-axis. (x- z- translations and other rotations are zero). | Stage |
| /stage/state/pose | geometry_msgs/msg/PoseStamped | The pose of the stage. In this implementation, the pose is defined only by x- and z- translations. (y-translation and rotations are zero). | Stage |