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 (dvargas@inrobots.es)
• Francisco Martín (fmrico@gmail.com)

Advisor:

• Esteve Fernández (esteve@apache.org)

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Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information: <a href="http://rosin-project.eu">rosin-project.eu</a>

<img src="http://rosin-project.eu/wp-content/uploads/rosin_eu_flag.jpg" alt="eu_flag" height="45" align="left" >

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

<!-- [](https://www.youtube.com/watch?v=lQXtoK3w5X8 "ARViz Hololens Positioning") --> <p align="center"> <a href="https://www.youtube.com/watch?v=lQXtoK3w5X8"> <img src="http://img.youtube.com/vi/lQXtoK3w5X8/0.jpg" alt="ARViz Hololens Positioning"> </a> </p>

ARViz GUI and Data Visualization

<!-- [](https://www.youtube.com/watch?v=mGTKNB-Iog0 "ARViz GUI and Data Visualization") --> <p align="center"> <a href="https://www.youtube.com/watch?v=mGTKNB-Iog0"> <img src="http://img.youtube.com/vi/mGTKNB-Iog0/0.jpg" alt="ARViz GUI and Data Visualization"> </a> </p>

TFs performance demonstration

<!-- [](https://www.youtube.com/watch?v=QVhvxE6DuYM) --> <p align="center"> <a href="https://www.youtube.com/watch?v=QVhvxE6DuYM"> <img src="http://img.youtube.com/vi/QVhvxE6DuYM/0.jpg" alt="ARViz TF2 demo"> </a> </p>

AR UI - Topics and Types

<!-- [](https://www.youtube.com/watch?v=Av-UpGzqmOc) --> <p align="center"> <a href="https://www.youtube.com/watch?v=Av-UpGzqmOc"> <img src="http://img.youtube.com/vi/Av-UpGzqmOc/0.jpg" alt="ARViz UI"> </a> </p>

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<p align="center"> <strong>Intelligent Robotics</strong> - <a href="http://intelligentrobotics.es/"> intelligentrobotics.es </a> - <a href="https://twitter.com/IntellRobotLabs"> @IntellRobotLabs </a> </p>