Intelligent Robotics http://intelligentrobotics.es/ @IntellRobotLabs
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)
Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: rosin-project.eu
This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.
Follow the instructions on ros2-dotnet to compile ROS2 for UWP https://github.com/esteve/ros2_dotnet
| 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 https://github.com/IntelligentRoboticsLabs/geometry2.git (branch:rcldotnet) | 100 % ✅ | |
| User AR Interface | Finished initial version | 100 % ✅ | |
| 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 % ✅ | |
| AR representation of basic types: scalar, images, pointcloud, laser, TFs, Maps, PoseArray and Paths | Work in progress. PointCloud and PoseArray pending designs. | 80 % ❌ | |
| Milestone 2 | |||
| Integration of data types in rcldotnet | Work in progress | 90 % ❌ | |
| Acceptance tests and final design of user AR Interface | Work in progress. Last details of AR UI in progress. Acceptance tests pending the finalization of the final UI design. | 50 % ❌ | |
| Multi robot in same scene | Work in progress. Multiple robots identified in same scene using ArUCOs. Working on the correct user interaction | 50 % ❌ | |
| Milestone 3 | |||
| Unitary and integrations tests | 0 % ❌ | ||
| System final acceptance questionnaire | |||
| Final Documentation | Works in https://github.com/esteve/ros2_dotnet | 20 % ❌ |
Coming soon...