sumedhsvijay / arviz

ARViz Project

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 ([email protected])
• Francisco Martín ([email protected])

Advisor:

• Esteve Fernández ([email protected])

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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.

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

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Intelligent Robotics - intelligentrobotics.es - @IntellRobotLabs