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Welcome to the ARFUROS wiki!

ARFUROS is a visualization app that connects a ROS robot (specifically a TurtleBot 2) to a Unity system that displays the robot's data in augmented reality.

Overview: On the robot, different data is published to specific topics, for example, the laser scan. The data then connects to the AR app through ROSBridge on the wifi. The ROSBridge attaches to ROS# in Unity, and the data is extracted into C# data structures. The visualization is then projected using C# scripts within Unity.

Menu Scene: The user picks which visualizations they would like to see and enters the IP address of the robot they are going to connect to. Both devices--the robot and the device running the app--must be on the same wifi in order for the connection to work.

AR View Scene: The user moves the device close enough so that it detects the HyperCube target, and then the visualizations should begin immediately. As the robot moves around, the user can see how it is collecting different data. The user can also move around the HyperCube in order to see all the angles of the robot. This system runs using a Lidar Scanner, so the robot is aware of its full surroundings. Note: the app cannot support too many intense visualizations at the same time. We are working to fix this.