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<!DOCTYPE HTML>
<!--
Hyperspace by HTML5 UP
html5up.net | @ajlkn
Free for personal and commercial use under the CCA 3.0 license (html5up.net/license)
-->
<html>
<head>
<title>Quest2ROS</title>
<meta charset="utf-8" />
<meta name="viewport" content="width=device-width, initial-scale=1, user-scalable=no" />
<link rel="stylesheet" href="assets/css/main.css" />
<link rel="stylesheet" href="https://cdnjs.cloudflare.com/ajax/libs/font-awesome/4.7.0/css/font-awesome.min.css">
<noscript><link rel="stylesheet" href="assets/css/noscript.css" /></noscript>
</head>
<body class="is-preload">
<!-- Sidebar -->
<section id="sidebar">
<div class="inner">
<nav>
<ul>
<li><a href="#intro">Q2R</a></li>
<li><a href="#method">Getting the App</a></li>
<li><a href="#performance">Performance</a></li>
<li><a href="#cite">How to Cite</a></li>
<li><a href="#contact">Contact</a></li>
</ul>
</nav>
</div>
</section>
<!-- Wrapper -->
<div id="wrapper">
<!-- Intro -->
<section id="intro" class="wrapper style1 fullscreen fade-up">
<div class="inner">
<h2> <h2>Quest2ROS: An App to Facilitate Teleoperating Robots</h2>
</h2>
<!--h3> Michael C. Welle, Niels Ingelhag, Martina Lippi ,Maciej K. Wozniak, Andrea Gasparri, Danica Kragic</h3-->
<p>
Quest2ROS enables the user to set an IP and PORT to connect to a ROS node via the ROS-TCP-Connector via a VR interface.
The app publishes the relative position and orientation (as PoseStamped), the velocity (Twist), and the button presses of both controllers (custom ROS message). It offers a subscriber for haptic feedback (frequency and amplitude of controller vibration) for each controller.
Ideal to set up a teleoperation for robots running ROS.
</p>
<p>
</p>
<a href="files/Quest2ROS.pdf" target="_blank" download="files/Quest2ROS.pdf">Download Preprint</a>
</div>
</section>
<!-- Method -->
<section id="method" class="wrapper style2 fade-up">
<div class="inner">
<h2> <a href="https://mcwelle.com/q2r/" > The Quest2ROS app is avalible on the new project site </a> </h2>
<p> old site here for archive purposes - is depricated </p>
</div>
</section>
<section id="performance" class="wrapper style1 fade-up">
<div class="inner">
<h2>Performance</h2>
<h3>Accuracy</h3>
<p> Mean accuracy from approximately 1 meter was estimated using 2180 data points to be <b>0.46 mm</b> </p>
<div class="column">
<img src="imgs/accuracy_hist.png" alt="accuracy histogram" width="500" class="img-list">
</div>
<p> </p>
<h3>Latency</h3>
<p> Mean latency was masured over eight trails to be <b>82 ms</b> </p>
<p> <a class="button mybutton" href="latency_measurment.html" target="_blank" > Latency measurements</a> </p>
<p> </p>
<h3>Frequency</h3>
<p> Mean Frequency was masured over all topics to be <b>71.86 Hz</b> </p>
<table>
<tr>
<th>Topic</th>
<th>Frequency</th>
</tr>
<tr>
<td>/q2r_left_hand_pose</td>
<td>72.08 HZ</td>
</tr>
<tr>
<td>/q2r_left_hand_twist</td>
<td>71.83 HZ</td>
</tr>
<tr>
<td>/q2r_left_hand_inputs</td>
<td>71.83 HZ</td>
</tr>
<tr>
<td>/q2r_right_hand_pose</td>
<td>71.87 HZ</td>
</tr>
<tr>
<td>/q2r_right_hand_twist</td>
<td>71.78 HZ</td>
</tr>
<tr>
<td>/q2r_right_hand_inputs</td>
<td>71.81 HZ</td>
</tr>
</table>
</div>
</section>
<!-- Cite -->
<section id="cite" class="wrapper style2 fade-up">
<div class="inner">
<h2>Use the following to cite us:</h2>
<p class="p-code"><code>@inproceedings{welle2024quest2ros, <br>
title={Quest2ROS: An App to Facilitate Teleoperating Robots},<br>
author={Welle, Michael C and Ingelhag, Nils and Lippi, Martina and Wozniak, Maciej and Gasparri, Andrea and Kragic, Danica},<br>
booktitle={7th International Workshop on Virtual, Augmented, and Mixed-Reality for Human-Robot Interactions},<br>
year={2024}
}
</code></p>
<p> </p>
</div>
</section>
<!-- five -->
<section id="contact" class="wrapper style1 fade-up">
<div class="inner">
<h2>Contact</h2>
<ul>
<li>Michael C. Welle; mwelle(at)kth.se; KTH Royal Institute of Technology, Sweden</li>
</ul>
</div>
</section>
</div>
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<div class="inner">
<ul class="copyright">
<li>© All rights reserved</li><li>Design: <a href="http://html5up.net">HTML5 UP</a></li>
</ul>
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