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iviz: A ROS visualization app for mobile devices

2021; Elsevier BV; Volume: 8; Linguagem: Inglês

10.1016/j.simpa.2021.100057

2665-9638

Antonio Zea, Uwe D. Hanebeck,

Robotics and Sensor-Based Localization

In this work, we introduce iviz, a mobile application for visualizing data in the Robot Operating System (ROS). In the last few years, the popularity of ROS has grown enormously, making it the standard platform for robotic programming. However, the availability of this environment is generally restricted to PCs with the Linux operating system. Thus, users wanting to see what is happening in the system with a smartphone or a tablet are stuck with solutions such as screen mirroring or web browser versions of rviz, making newer visualization modalities such as Augmented Reality impossible. Our application iviz, based on the Unity engine, addresses these issues by providing a visualization platform designed from scratch to be usable in mobile platforms such as iOS, Android, and UWP, and including native support for Augmented Reality for all three platforms. If desired, it can also be used in a PC with Linux, Windows, or macOS without any changes.