[ros-users] RFC: rviz on Android

Wed Apr 25 18:44:23 UTC 2012

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
<hersh at willowgarage.com> 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
> <odest_jenkins at brown.edu> 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 <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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