Interaction between a mobile device and a ROS host (Tutor: Zhong Wang, 19121805639)

Introduction

In many robot-related applications, the robot operating system (ROS) based on Linux (Ubuntu) is often used to achieve data communication among multiple sensors. ROS often runs on the moving robot. When we need to know the running status of the robot or want to send control commands to the robot, we need to use mobile devices such as mobile phones or tablets. Therefore, how to make use of the communication mechanism of ROS to achieve the interaction between the mobile device and the master processor is a widely demanded technology.

Requirements

In this project, your task is to develop a simple interactive app between mobile device and ROS host based on Android or IOS, realizing the following functions:

1. Start a SLAM application (Google’s cartographer 2D/3D) on the ROS master from the app. The program will play the data bag collected in advance, and then localize and map at the same time.
2. The app needs to receive the messages sent by the SLAM program and display them (3/6-DoF poses and the built map (2D grid map or 3D point cloud)) on its UI.

3. The app sends a command to early exit the SLAM program.

(Caution: In the above-mentioned tasks, 2D is the basic requirement. Encourage students to achieve 3D display, so that they can get extra bonus.)

References

ROS:

http://wiki.ros.org/Documentation

http://wiki.ros.org/ROS/Tutorials

ROS Mobile:

https://github.com/ROS-Mobile/ROS-Mobile-Android

https://github.com/KIT-ISAS/iviz/tree/devel

Cartographer

https://github.com/cartographer-project/cartographer_ros

https://github.com/cartographer-project/cartographer

https://google-cartographer-ros.readthedocs.io/en/latest/

Created on: Nov. 09, 2023