A soft real-time interactive simulation and visualization framework in AR for robotic systems based on ROS This project allows you to integrate Augmented Reality / Mixed Reality (AR/MR) applications in your ROS based robotic system easily. It provides functionalities for an easy setup and configuration, utilizes commonly used tools and standards (urdf files, etc.) and is easily extendable.
Please read our Wiki explaining the architecture and inner workings
There is also a paper available.
(Also contains a detailled "How to get started" Section)
This project was originally started as a lecture project at ETH in cooperation with Microsoft Mixed Reality and AI Lab Zürich.
| Library | Description | Usage | Licence |
|---|---|---|---|
| Ros# | .NET ROS for Hololens | modified | Apache 2.0 |
| MRTK | Hololens Toolkit | dependency | MIT |
| ROS | Robot Operating System | dependency | BSD |
| roslibpy | Python ROS library | dependency | MIT |
| MoveIt | Path Planning | dependency | BSD 3.0 |
| Gazebo | Robot Simulation | dependency | Apache 2.0 |
| Docker | Containerization | dependency | Apache 2.0 |
| docker-py | Python Docker API | dependency | Apache 2.0 |
| Lidar-Simulator | 3D-Lidar Simulator | modified | MIT |