[ros-users] RFC: rviz on Android

Benoit Larochelle Benoit.Larochelle at dfki.de
Wed May 2 07:26:03 UTC 2012


Hi to the whole team at Brown U!

Thanks for the response. The video is great, and I love the soundtrack too! 
;-)

Benoit

-----Original Message----- 
From: Jenkins, Odest Chadwicke
Sent: Friday, April 27, 2012 6:35 PM
To: Benoit Larochelle
Cc: User discussions
Subject: Re: [ros-users] RFC: rviz on Android

Hi Benoit,

Apologies for the delayed response.

I put a copy of the flv on our site:

http://brown-robotics.org/misc/Clearing%20a%20table%20with%20HTML5%20(UI%20View).flv

Please let me know if this works for you.

Happy viewing!
-Chad

On Thu, Apr 26, 2012 at 7:24 AM, Benoit Larochelle
<Benoit.Larochelle at dfki.de> wrote:
> Hi Chad,
>
> Do you have the same video without the soundtrack, because copyright 
> issues
> prevent us from watching it in Germany. :-(
>
> "Unfortunately, this video is not available in Germany because it may
> contain music for which GEMA has not granted the respective music rights.
> Sorry about that."
>
> GEMA is the German Society for musical performing and mechanical
> reproduction rights. Since there are a lot of Germans on the ROS mailing
> lists, it would be worthwhile to solve this issue.
>
> Thanks,
>
> Benoit
>
> -----Original Message----- From: Jenkins, Odest Chadwicke
> Sent: Wednesday, April 25, 2012 5:50 PM
>
> To: User discussions
> Subject: Re: [ros-users] RFC: rviz on Android
>
> 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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