ROS to AR headset bridge using openIGTLink

[cshreyastech]

I am looking to publish point cloud, transformation pose from ROS to AR headset(Magic leap). Magic leap would return the eye gaze vector, hand pose from the hand device which would get published to the ROS application. This is a research project.

Can OpenIGTLink be used for this?

ROS runs in Linux 20.04, intel 64bit.

Thanks

[tokjun]

Hi @cshreyastech, if you want to use OpenIGTLink, you need to have an OpenIGTLink interface for both sides. There are OpenIGTLink interfaces for ROS and ROS2 (https://github.com/openigtlink/ROS-IGTL-Bridge for ROS 1 and https://github.com/openigtlink/ros2_igtl_bridge for ROS2), but not sure about Magic Leap. Are you going to implement software for Magic Leap by yourself?

[cshreyastech]

@tokjun thanks for the reply. I dont think Magic leap has it. I would have to implement it myself. Can you guide with some sample code to get started? I prefer building it in C++.

Thanks

[tokjun]

You can find a variety of examples for each data type under the Example directory. https://github.com/openigtlink/OpenIGTLink/tree/master/Examples

You can also find some tutorials at: http://openigtlink.org/tutorials/

I'm not familiar with Magic Leap's API, but if it is built on Unity, you may contact @franklinwk. I might have some experience in implementing an OpenIGTLink interface on the Unity platform.

[cshreyastech]

@tokjun Thanks for the pointers.