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microsoft / azure_spatial_anchors_ros

ROS wrapper for the Azure Spatial Anchors Linux SDK, allowing robots (and other devices with vision-based sensors) to co-localize with other robots, AR-enabled phones, and Hololens devices.
https://azure.microsoft.com/en-us/services/spatial-anchors/
MIT License
87 stars 20 forks source link

Is there plans for ROS2 and Windows Support? #4

Closed Levi-Armstrong closed 1 year ago

Levi-Armstrong commented 3 years ago

Currently we have several projects leveraging ROS2 and the Hololens 2 and I believe this could be a useful on these projects if support was added for Windows and ROS2.

helenol commented 3 years ago

Hi @Levi-Armstrong! ROS2 would be relatively straight forward (it's just a wrapper :) and the internal interface is anyway ROS-independent: https://github.com/microsoft/azure_spatial_anchors_ros/blob/main/asa_ros/include/asa_ros/asa_interface.h , just need to pass in cv::Mat and Eigen::Affine3d frames), we would also welcome PRs if you wanted to do this. Windows support is a bit trickier, as we'd have to build a different version of the underlying SDK binaries. We are definitely thinking about this though. It works just fine under WSL/WSL2 if that would be a feasible short-term solution to your problem.

Levi-Armstrong commented 3 years ago

Thank you for the information.