ARViz
ARViz is an RViz implementation for Augmented Reality. This application runs inside the Microsoft Hololens AR device as a UWP application, without the need to use Ros Bridge. This project has as goal to combine:
- TF2 support for ROS C#.
- Secure communications.
- Hololens Positioning in the scene.
This project uses the UWP port of ROS2 done by Esteve Fernández. You can have a look at the talk he gave at ROSCon 2018 about ROS2 for Android, iOS and UWP to understand the underlying code Video Slides.
This project is funded by ROSIN as a focused Technical Project.
Project mantainers:
- David Vargas (dvargas@inrobots.es)
- Francisco Martín (fmrico@gmail.com)
Advisor:
- Esteve Fernández (esteve@apache.org)
<img src="http://rosin-project.eu/wp-content/uploads/rosin_ack_logo_wide.png" alt="rosin_logo" height="60" >
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu
<img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg" alt="eu_flag" height="45" align="left" >
This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.
Development Status
| Task | Status | Progress | |
|---|---|---|---|
| Milestone_1 | |||
| Hololens positioning. Hololens node which publish TF2 messages with the device position with respect the world frame. | Finished development of TF2 bindings for rcldotnet at IntelligentRoboticsLabs geometry2 repo (branch: rcldotnet) | 100%:white_check_mark: | |
| User AR Interface | Finished initial version | 100%:white_check_mark: | |
| Final Development of C# bindings | Finished development of Nested types and Collections, needed for TF2 bindings, finished. PRs pending in https://github.com/esteve/ros2_dotnet | 100%:white_check_mark: | |
| AR representation of basic types: scalar, images, pointcloud, laser, TFs, Maps, PoseArray and Paths | 100%:white_check_mark: | ||
| Milestone_2 | |||
| Integration of data types in rcldotnet | 100%:white_check_mark: | ||
| Acceptance tests and final design of user AR Interface | Work in progress. Acceptance tests pending. | 90%:arrows_counterclockwise: | |
| Multi robot in same scene | Multiple robots identified in same scene with minimal initial setup required. | 100%:white_check_mark: | |
| Milestone_3 | |||
| Unitary and integrations tests | 100%:white_check_mark: | ||
| System final acceptance questionnaire | Work in progress. | 50%:arrows_counterclockwise: | |
| Final Documentation | Wiki | 100%:white_check_mark: |
Videos & demos (the images link to the youtube video)
Global positioning system
ARViz GUI and Data Visualization
TFs performance demonstration
AR UI - Topics and Types
Intelligent Robotics - intelligentrobotics.es - @IntellRobotLabs