<div class="gmail_extra">It's not exactly streaming that point cloud data, but it does look like a nice system. I love the soundtrack. :)</div><div class="gmail_extra"><br></div><div class="gmail_extra">Dave<br><br><div class="gmail_quote">
On Wed, Apr 25, 2012 at 8:50 AM, Jenkins, Odest Chadwicke <span dir="ltr"><<a href="mailto:odest_jenkins@brown.edu" target="_blank">odest_jenkins@brown.edu</a>></span> wrote:<br><blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex">
Very cool, Jeff! Big ups.<br>
<br>
Point clouds can be used effectively over rosbridge and the public<br>
internet. For example, the following video shows a PR2 in Palo Alto<br>
teleoperated by a user in Atlanta through a browser interface with<br>
Kinect RGBD data, two camera views, tfs, interactive markers, and<br>
more:<br>
<br>
<a href="http://www.youtube.com/watch?v=dWG7em5cwWo" target="_blank">http://www.youtube.com/watch?v=dWG7em5cwWo</a><br>
<br>
Admittedly, there were some special hacks needed to make this happen<br>
(compression, recasting of topics, etcs.). However, such hacks could<br>
be generalized by rethinking ROS's pubsub mechanisms and topics to be<br>
smarter about data.<br>
<br>
-Chad<br>
<br>
<br>
Message: 4<br>
Date: Mon, 23 Apr 2012 21:39:25 +0000<br>
From: "Jeff Rousseau <<a href="mailto:jrousseau@aptima.com">jrousseau@aptima.com</a>>" <<a href="mailto:jrousseau@aptima.com">jrousseau@aptima.com</a>><br>
To: User discussions <<a href="mailto:ros-users@code.ros.org">ros-users@code.ros.org</a>><br>
<div class="im">Subject: Re: [ros-users] RFC: rviz on Android<br>
</div>Message-ID:<br>
<<a href="mailto:63F8A30DFF819946A566189F4E29A4896DAC7635@exchange-ma.aad.aptima.com">63F8A30DFF819946A566189F4E29A4896DAC7635@exchange-ma.aad.aptima.com</a>><br>
Content-Type: text/plain; charset="iso-8859-1"<br>
<div><div class="h5"><br>
Another approach, and one I've personally taken in some of our apps,<br>
is to build reusable UI components in HTML5 while keeping the<br>
lower-level data transfer code platform-specific. For example the<br>
platform-specific code for our Android version uses rosjava just to<br>
push data from subscriber callbacks to populate the UI elements in an<br>
Android "WebView" component. All view and business logic (majority of<br>
code) resides in the HTML5 side. You lose the "everything runs in a<br>
browser", but still gain some code reuse.<br>
<br>
This said, I still wouldn't advocate for a "one user interface to rule<br>
them all" type of thing. A multi-touch tablet has different<br>
affordances than a desktop-PC with a mouse and keyboard. Desktop UIs<br>
don't work on 8" tablets and vv. We simply use the common-denominator<br>
(using HTML5) approach to save development cycles on similar platforms<br>
(iOS, touch-PCs, Android, etc).<br>
<br>
Just some things to consider<br>
Jeff<br>
<br>
From: <a href="mailto:ros-users-bounces@code.ros.org">ros-users-bounces@code.ros.org</a><br>
[mailto:<a href="mailto:ros-users-bounces@code.ros.org">ros-users-bounces@code.ros.org</a>] On Behalf Of Dave Hershberger<br>
Sent: Monday, April 23, 2012 5:06 PM<br>
To: User discussions<br>
Subject: Re: [ros-users] RFC: rviz on Android<br>
<br>
I definitely like the idea of rviz-like functionality in a browser,<br>
where it is accessible from essentially any device. One of the big<br>
use-cases though is Point Cloud data, which is already very high<br>
bandwidth, even in binary format. If we sent that data in JSON<br>
format, it would expand about 4 times in size. If there were support<br>
for binary data sent via websockets, rosbridge, etc, I would be<br>
thinking more seriously about it.<br>
<br>
Dave<br>
On Mon, Apr 23, 2012 at 11:55 AM, Jeff Rousseau<br>
</div></div><<a href="mailto:jrousseau@aptima.com">jrousseau@aptima.com</a><mailto:<a href="mailto:jrousseau@aptima.com">jrousseau@aptima.com</a>>><br>
<div class="im"><<a href="mailto:jrousseau@aptima.com">jrousseau@aptima.com</a><mailto:<a href="mailto:jrousseau@aptima.com">jrousseau@aptima.com</a>>> wrote:<br>
Dariush,<br>
<br>
I think it really depends on what you want in your "android rviz"<br>
<br>
We (at Aptima) have built some nice HTML5 UIs that wrap nicely into<br>
Android and iOS devices for controlling multiple robots. So if you're<br>
looking for a replacement for something like the old nav_view<br>
functionality, we've found that HTML5 gives you some nice<br>
portability/code-reuse benefits.<br>
<br>
<a href="http://www.youtube.com/watch?v=JcATNhoJ3gg" target="_blank">http://www.youtube.com/watch?v=JcATNhoJ3gg</a><br>
<br>
I think of rviz as a "visual debugger" as well as an extremely basic<br>
navigation interface. We cared more about building a UI for<br>
controlling the nav stack (queing waypoints, etc) so our use case<br>
might not be exactly the same.<br>
<br>
Jeff<br>
<br>
> -----Original Message-----<br>
</div><div class="im">> From: <a href="mailto:ros-users-bounces@code.ros.org">ros-users-bounces@code.ros.org</a><mailto:<a href="mailto:ros-users-bounces@code.ros.org">ros-users-bounces@code.ros.org</a>> [mailto:<a href="mailto:ros-users-">ros-users-</a><mailto:<a href="mailto:ros-users-">ros-users-</a>><br>
> <a href="mailto:bounces@code.ros.org">bounces@code.ros.org</a><mailto:<a href="mailto:bounces@code.ros.org">bounces@code.ros.org</a>>] On Behalf Of Dariush Forouher<br>
> Sent: Monday, April 23, 2012 9:50 AM<br>
> To: User discussions<br>
> Subject: Re: [ros-users] RFC: rviz on Android<br>
><br>
> Interesting, thanks for the many answers.<br>
><br>
> I agree, building ROS apps for the browser is generally preferable for<br>
> portability reasons. I don't know whether a fullfledged rviz is doable inside<br>
> the browser, however. wviz looks nice, though.<br>
><br>
> @Dave: Working together on this sounds like a great idea. I was thinking of<br>
> handing this out as a student project as well. Once I've found someone Ill<br>
> contact you to see where we can contribute.<br>
><br>
> cheers<br>
> Dariush<br>
><br>
</div>> Am <a href="tel:21.04.2012%2004" value="+12104201204">21.04.2012 04</a><tel:21.04.2012%2004>:06, schrieb Michael Carroll:<br>
<div class="im">> > I would certainly be interested in helping out. I did a somewhat-iOS<br>
> > capable ROS bridge based on a 3rd party app for the iPhone and iPad,<br>
> > but I don't know that it's really a suitable long term solution.<br>
> ><br>
> > I, too, was considering something along the lines of rosbridge for a<br>
> > more fully-featured cross platform "app" (which could support any web<br>
> > enabled device).<br>
> ><br>
> > I think that if a "mobile ROS" is done, it should be with the goal to<br>
> > be as cross platform as possible. I understand this becomes<br>
> > cumbersome when it comes to Rviz, but for most of the other<br>
> > interesting day-to-day information, widgets and text should cover it.<br>
> ><br>
> > ~mc<br>
> ><br>
> > On Fri, Apr 20, 2012 at 13:00, Dave Hershberger<br>
</div><div class="im">> > <<a href="mailto:hersh@willowgarage.com">hersh@willowgarage.com</a><mailto:<a href="mailto:hersh@willowgarage.com">hersh@willowgarage.com</a>> <mailto:<a href="mailto:hersh@willowgarage.com">hersh@willowgarage.com</a><mailto:<a href="mailto:hersh@willowgarage.com">hersh@willowgarage.com</a>>>> wrote:<br>
> ><br>
> > er, I meant he's starting in May and I hope that in *June* we'll be<br>
> > ready to farm out the Display subclass work.<br>
> ><br>
> > Dave<br>
> ><br>
> ><br>
> > On Fri, Apr 20, 2012 at 10:59 AM, Dave Hershberger<br>
</div><div class="im">> > <<a href="mailto:hersh@willowgarage.com">hersh@willowgarage.com</a><mailto:<a href="mailto:hersh@willowgarage.com">hersh@willowgarage.com</a>> <mailto:<a href="mailto:hersh@willowgarage.com">hersh@willowgarage.com</a><mailto:<a href="mailto:hersh@willowgarage.com">hersh@willowgarage.com</a>>>> wrote:<br>
> ><br>
> > That's great, thanks. The project is supposed to start sometime<br>
> > in May when my intern arrives. Hopefully sometime in April<br>
> > we'll be ready to start writing Display classes, which is the<br>
> > place that looks easiest (to me) to farm out different pieces of<br>
> > work. All Displays are subclasses of the Display class and they<br>
> > all use the same APIs do their various work, and there are about<br>
> > 20 of them.<br>
> ><br>
> > It will also be great to have people testing and reporting bugs<br>
> > in different use cases we might not see in-house.<br>
> ><br>
> > Dave<br>
><br>
> --<br>
</div>> Institut f?r Technische Informatik / Universit?t zu L?beck <a href="http://www.iti.uni-" target="_blank">http://www.iti.uni-</a><br>
> <a href="http://luebeck.de/mitarbeiter/dariush-forouher-m-sc.html" target="_blank">luebeck.de/mitarbeiter/dariush-forouher-m-sc.html</a><<a href="http://luebeck.de/mitarbeiter/dariush-forouher-m-sc.html" target="_blank">http://luebeck.de/mitarbeiter/dariush-forouher-m-sc.html</a>><br>
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