ROS-Mobile: An Android application for the Robot Operating System

Rottmann, Nils; Studt, Nico; Ernst, Floris; Rueckert, Elmar

doi:10.48550/arxiv.2011.02781

Cited by 5 publications

(8 citation statements)

References 5 publications

(5 reference statements)

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“…The joypad interface realizes a velocity controller for the mobile base, and is capable of commanding both its linear and angular velocities. It is implemented using a standard twist command for the base, which is generated by a virtual joystick implemented as a built-in feature in the ROS-Mobile Android application [ 25 ].…”

Section: Multimodal–multisensor Interface Frameworkmentioning

confidence: 99%

A Unified Multimodal Interface for the RELAX High-Payload Collaborative Robot

Muratore,

Laurenzi,

De Luca

et al. 2023

Sensors

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This manuscript introduces a mobile cobot equipped with a custom-designed high payload arm called RELAX combined with a novel unified multimodal interface that facilitates Human–Robot Collaboration (HRC) tasks requiring high-level interaction forces on a real-world scale. The proposed multimodal framework is capable of combining physical interaction, Ultra Wide-Band (UWB) radio sensing, a Graphical User Interface (GUI), verbal control, and gesture interfaces, combining the benefits of all these different modalities and allowing humans to accurately and efficiently command the RELAX mobile cobot and collaborate with it. The effectiveness of the multimodal interface is evaluated in scenarios where the operator guides RELAX to reach designated locations in the environment while avoiding obstacles and performing high-payload transportation tasks, again in a collaborative fashion. The results demonstrate that a human co-worker can productively complete complex missions and command the RELAX mobile cobot using the proposed multimodal interaction framework.

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Section: Multimodal–multisensor Interface Frameworkmentioning

confidence: 99%

A Unified Multimodal Interface for the RELAX High-Payload Collaborative Robot

Muratore,

Laurenzi,

De Luca

et al. 2023

Sensors

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“…The proposed system consists of two main modules, a Robot module which employs Robot Operating System (ROS) and a Interface module which is either an AR headset which uses Unity Engine or an android tablet which employs ROS-Mobile [22]. The Interface module communicates the robot's goal to the Robot module, which then uses this information to navigate to a user-specified goal through velocity commands.…”

Section: Ar Pointandclick Interfacementioning

confidence: 99%

“…Fig. 3: An example of the Tablet interface which uses ROS mobile [22] that implements the popular RViz interface on mobile devices. Note that the visualized flag is not seen in by the user and is used to symbolize the user's goal in this scenario…”

Section: A Baseline Interfacesmentioning

confidence: 99%

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AR Point&Click: An Interface for Setting Robot Navigation Goals

Gu¹,

Croft²,

Cosgun³

2022

Preprint

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This paper considers the problem of designating navigation goal locations for interactive mobile robots. We propose a point-and-click interface, implemented with an Augmented Reality (AR) headset. The cameras on the AR headset are used to detect natural pointing gestures performed by the user. The selected goal is visualized through the AR headset, allowing the users to adjust the goal location if desired. We conduct a user study in which participants set consecutive navigation goals for the robot using three different interfaces: AR Point & Click, Person Following and Tablet (birdeye map view). Results show that the proposed AR Point&Click interface improved the perceived accuracy, efficiency and reduced mental load compared to the baseline tablet interface, and it performed on-par to the Person Following method. These results show that the AR Point&Click is a feasible interaction model for setting navigation goals.

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“…The idea is to alleviate the need for complex robot teleoperation devices such as a joystick, a RC transmitter, etc., and to provide an intuitive way of controlling the robot by simply touching the Android device screen. To achieve this, we leveraged the framework developed by Rottmann Nils et al [31]. The setup is straightforward.…”

Section: O 2 S Teleoperation From Remote-control (Rc) Devicesmentioning

confidence: 99%

O2S: Open-source open shuttle

Linus¹,

Clemens²,

Bartsch³

et al. 2022

Preprint

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Currently, commercially available intelligent transport robots that are capable of carrying up to 90kg of load can cost $5,000 or even more. This makes real-world experimentation prohibitively expensive, and limiting the applicability of such systems to everyday home or industrial tasks. Aside from their high cost, the majority of commercially available platforms are either closed-source, platform-specific, or use difficult-to-customize hardware and firmware. In this work, we present a low-cost, open-source and modular alternative, referred to herein as "open-source open shuttle (O 2 S)". O 2 S utilizes off-the-shelf (OTS) components, additive manufacturing technologies, aluminium profiles, and a consumer hoverboard with high-torque brushless direct current (BLDC) motors. O 2 S is fully compatible with the robot operating system (ROS), has a maximum payload of 90kg, and costs less than $1500. Furthermore, O 2 S offers a simple yet robust framework for contextualizing simultaneous localization and mapping (SLAM) algorithms, an essential prerequisite for autonomous robot navigation. The robustness and performance of the O 2 S were validated through real-world and simulation experiments. All the design, construction and software files are freely available online under the GNU GPL v3 license at https://doi.org/10.17605/OSF.IO/K83X7. A descriptive video of O 2 S can be found at https://osf.io/v8tq2.

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ROS-Mobile: An Android application for the Robot Operating System

Cited by 5 publications

References 5 publications

A Unified Multimodal Interface for the RELAX High-Payload Collaborative Robot

A Unified Multimodal Interface for the RELAX High-Payload Collaborative Robot

AR Point&Click: An Interface for Setting Robot Navigation Goals

O2S: Open-source open shuttle

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