True. I was thinking more about usability that streaming. Specifically, do you need to stream all of the data to have a viable mobile interface? The original post definitely asked for streaming and a faithful translation of the current rviz. However, providing all of the data at full fidelity may not be a hard requirement across users more broadly. For example, wviz (as suggested by Ryan) uses mjpeg_server to compress image topics at reasonable fidelity that could be used on mobile with decent connectivity. The soundtrack was Trevor's choice. He has better sensibilities because I would have chosen something by Wu-Tang or Chicago. Only the beginning, only just a start. -Chad On Wed, Apr 25, 2012 at 4:56 PM, Dave Hershberger wrote: > It's not exactly streaming that point cloud data, but it does look like a > nice system.  I love the soundtrack. :) > > Dave > > On Wed, Apr 25, 2012 at 8:50 AM, Jenkins, Odest Chadwicke > wrote: >> >> Very cool, Jeff!  Big ups. >> >> Point clouds can be used effectively over rosbridge and the public >> internet.  For example, the following video shows a PR2 in Palo Alto >> teleoperated by a user in Atlanta through a browser interface with >> Kinect RGBD data, two camera views, tfs, interactive markers, and >> more: >> >>  http://www.youtube.com/watch?v=dWG7em5cwWo >> >> Admittedly, there were some special hacks needed to make this happen >> (compression, recasting of topics, etcs.).  However, such hacks could >> be generalized by rethinking ROS's pubsub mechanisms and topics to be >> smarter about data. >> >> -Chad >> >> >> Message: 4 >> Date: Mon, 23 Apr 2012 21:39:25 +0000 >> From: "Jeff Rousseau " >> To: User discussions >> Subject: Re: [ros-users] RFC: rviz on Android >> Message-ID: >> >> <63F8A30DFF819946A566189F4E29A4896DAC7635@exchange-ma.aad.aptima.com> >> Content-Type: text/plain; charset="iso-8859-1" >> >> Another approach, and one I've personally taken in some of our apps, >> is to build reusable UI components in HTML5 while keeping the >> lower-level data transfer code platform-specific.  For example the >> platform-specific code for our Android version uses rosjava just to >> push data from subscriber callbacks to populate the UI elements in an >> Android "WebView" component.  All view and business logic (majority of >> code) resides in the HTML5 side.  You lose the "everything runs in a >> browser", but still gain some code reuse. >> >> This said, I still wouldn't advocate for a "one user interface to rule >> them all" type of thing.  A multi-touch tablet has different >> affordances than a desktop-PC with a mouse and keyboard.  Desktop UIs >> don't work on 8" tablets and vv.  We simply use the common-denominator >> (using HTML5) approach to save development cycles on similar platforms >> (iOS, touch-PCs, Android, etc). >> >> Just some things to consider >> Jeff >> >> From: ros-users-bounces@code.ros.org >> [mailto:ros-users-bounces@code.ros.org] On Behalf Of Dave Hershberger >> Sent: Monday, April 23, 2012 5:06 PM >> To: User discussions >> Subject: Re: [ros-users] RFC: rviz on Android >> >> I definitely like the idea of rviz-like functionality in a browser, >> where it is accessible from essentially any device.  One of the big >> use-cases though is Point Cloud data, which is already very high >> bandwidth, even in binary format.  If we sent that data in JSON >> format, it would expand about 4 times in size.  If there were support >> for binary data sent via websockets, rosbridge, etc, I would be >> thinking more seriously about it. >> >> Dave >> On Mon, Apr 23, 2012 at 11:55 AM, Jeff Rousseau >> > >> > wrote: >> Dariush, >> >> I think it really depends on what you want in your "android rviz" >> >> We (at Aptima) have built some nice HTML5 UIs that wrap nicely into >> Android and iOS devices for controlling multiple robots.  So if you're >> looking for a replacement for something like the old nav_view >> functionality, we've found that HTML5 gives you some nice >> portability/code-reuse benefits. >> >> http://www.youtube.com/watch?v=JcATNhoJ3gg >> >> I think of rviz as a "visual debugger" as well as an extremely basic >> navigation interface.  We cared more about building a UI for >> controlling the nav stack (queing waypoints, etc) so our use case >> might not be exactly the same. >> >> Jeff >> >> > -----Original Message----- >> > From: >> > ros-users-bounces@code.ros.org >> > [mailto:ros-users- >> > bounces@code.ros.org] On Behalf Of Dariush >> > Forouher >> > Sent: Monday, April 23, 2012 9:50 AM >> > To: User discussions >> > Subject: Re: [ros-users] RFC: rviz on Android >> > >> > Interesting, thanks for the many answers. >> > >> > I agree, building ROS apps for the browser is generally preferable for >> > portability reasons.  I don't know whether a fullfledged rviz is doable >> > inside >> > the browser, however. wviz looks nice, though. >> > >> > @Dave: Working together on this sounds like a great idea. I was thinking >> > of >> > handing this out as a student project as well. Once I've found someone >> > Ill >> > contact you to see where we can contribute. >> > >> > cheers >> > Dariush >> > >> > Am 21.04.2012 04:06, schrieb Michael Carroll: >> > > I would certainly be interested in helping out.  I did a somewhat-iOS >> > > capable ROS bridge based on a 3rd party app for the iPhone and iPad, >> > > but I don't know that it's really a suitable long term solution. >> > > >> > > I, too, was considering something along the lines of rosbridge for a >> > > more fully-featured cross platform "app" (which could support any web >> > > enabled device). >> > > >> > > I think that if a "mobile ROS" is done, it should be with the goal to >> > > be as cross platform as possible.  I understand this becomes >> > > cumbersome when it comes to Rviz, but for most of the other >> > > interesting day-to-day information, widgets and text should cover it. >> > > >> > > ~mc >> > > >> > > On Fri, Apr 20, 2012 at 13:00, Dave Hershberger >> > > >> > > >> wrote: >> > > >> > >     er, I meant he's starting in May and I hope that in *June* we'll >> > > be >> > >     ready to farm out the Display subclass work. >> > > >> > >     Dave >> > > >> > > >> > >     On Fri, Apr 20, 2012 at 10:59 AM, Dave Hershberger >> > >     >> > > >> wrote: >> > > >> > >         That's great, thanks.  The project is supposed to start >> > > sometime >> > >         in May when my intern arrives.  Hopefully sometime in April >> > >         we'll be ready to start writing Display classes, which is the >> > >         place that looks easiest (to me) to farm out different pieces >> > > of >> > >         work.  All Displays are subclasses of the Display class and >> > > they >> > >         all use the same APIs do their various work, and there are >> > > about >> > >         20 of them. >> > > >> > >         It will also be great to have people testing and reporting >> > > bugs >> > >         in different use cases we might not see in-house. >> > > >> > >         Dave >> > >> > -- >> > Institut f?r Technische Informatik / Universit?t zu L?beck >> > http://www.iti.uni- >> > >> > luebeck.de/mitarbeiter/dariush-forouher-m-sc.html >> >> The information transmitted is intended only for the person or entity >> to which it is addressed and may contain confidential and/or >> privileged material. 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