Interfacing extended reality and robotic operating system 2
Hautamäki, Jaakko (2021)
Hautamäki, Jaakko
2021
Tietotekniikan DI-ohjelma - Master's Programme in Information Technology
Informaatioteknologian ja viestinnän tiedekunta - Faculty of Information Technology and Communication Sciences
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Hyväksymispäivämäärä
2021-09-03
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:tuni-202108206663
https://urn.fi/URN:NBN:fi:tuni-202108206663
Tiivistelmä
Extended reality and robotic operating system 2 are technologies in an evolving state that have recently become popular. The development of both technologies has been rapid in the recent years and supported by multiple powerful companies. To adapt these technologies, in research and product development, their state-of-the-art should be studied and outlined regularly. This allows for more educated choices in planning of products and research targets, on the account of the technologies and the features within.
The goals of the project were to document the state-of-the-art of extended reality and robotic operating system 2 as well as to identify any future research targets within those technologies. In addition, an important goal was to try to create an interface between these technologies and evaluate its features as well as present and future potential. The interface was tested and expanded to other platforms as extensively as possible in the available time frame.
A comprehensive state-of-the-art of both technologies was established and an interface was created between them using the Unity game engine. For the creation of the interface, applicable software and software interfaces were researched. The creation and development process of the interface and the problems discovered were documented. The usability, robustness and expandability of the interface were evaluated, within the boundaries of the project schedule, through unit testing, integration testing, stress testing and feedback from demonstrations of the interface.The first demonstration covered the functionality and features of the interface from a robot into Unity, while the second demonstration presented the possibilities of the interface in conjunction with extended reality features.
The project was a successful in researching and documenting the state-of-the-art and creating an interface between the two technologies, which received positive feedback from the demonstrations. The interface software ran on Unity and could successfully send and receive different message types to and from ROS2 environment. The second demonstration also gave a good example of how the combination of ROS2 and XR could be used in practicality. The interface was successfully expanded into robotic operating system 1 environments with ROS1_bridge software. Significant latency issues were discovered during the use of ROS1_bridge however. The issues were researched and documented. The interface was successfully compiled for Windows 10 and Ubuntu Linux environments, but attempts at compiling for Android failed. Multiple future research targets were discovered from the study as well.
The goals of the project were to document the state-of-the-art of extended reality and robotic operating system 2 as well as to identify any future research targets within those technologies. In addition, an important goal was to try to create an interface between these technologies and evaluate its features as well as present and future potential. The interface was tested and expanded to other platforms as extensively as possible in the available time frame.
A comprehensive state-of-the-art of both technologies was established and an interface was created between them using the Unity game engine. For the creation of the interface, applicable software and software interfaces were researched. The creation and development process of the interface and the problems discovered were documented. The usability, robustness and expandability of the interface were evaluated, within the boundaries of the project schedule, through unit testing, integration testing, stress testing and feedback from demonstrations of the interface.The first demonstration covered the functionality and features of the interface from a robot into Unity, while the second demonstration presented the possibilities of the interface in conjunction with extended reality features.
The project was a successful in researching and documenting the state-of-the-art and creating an interface between the two technologies, which received positive feedback from the demonstrations. The interface software ran on Unity and could successfully send and receive different message types to and from ROS2 environment. The second demonstration also gave a good example of how the combination of ROS2 and XR could be used in practicality. The interface was successfully expanded into robotic operating system 1 environments with ROS1_bridge software. Significant latency issues were discovered during the use of ROS1_bridge however. The issues were researched and documented. The interface was successfully compiled for Windows 10 and Ubuntu Linux environments, but attempts at compiling for Android failed. Multiple future research targets were discovered from the study as well.