[ros-users] RFC: rviz on Android
Jenkins, Odest Chadwicke
odest_jenkins at brown.edu
Wed Apr 25 15:50:52 UTC 2012
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 <jrousseau at aptima.com>" <jrousseau at aptima.com>
To: User discussions <ros-users at code.ros.org>
Subject: Re: [ros-users] RFC: rviz on Android
Message-ID:
<63F8A30DFF819946A566189F4E29A4896DAC7635 at 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 at code.ros.org
[mailto:ros-users-bounces at 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
<jrousseau at aptima.com<mailto:jrousseau at aptima.com>>
<jrousseau at aptima.com<mailto:jrousseau at aptima.com>> 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 at code.ros.org<mailto:ros-users-bounces at code.ros.org> [mailto:ros-users-<mailto:ros-users->
> bounces at code.ros.org<mailto:bounces at 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<tel:21.04.2012%2004>: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
> > <hersh at willowgarage.com<mailto:hersh at willowgarage.com> <mailto:hersh at willowgarage.com<mailto:hersh at willowgarage.com>>> 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
> > <hersh at willowgarage.com<mailto:hersh at willowgarage.com> <mailto:hersh at willowgarage.com<mailto:hersh at willowgarage.com>>> 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<http://luebeck.de/mitarbeiter/dariush-forouher-m-sc.html>
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