拡張現実による人とロボットの協調：ROS 2ベースのセンサストリーミングフレームワークの開発とSLAMアルゴリズムによる検証
Augmented Reality Interfaces for Human-Robot Collaboration: Development of a ROS 2-Based Sensor Streaming Framework and Validation via SLAM Algorithms
Magic Leap 2とROS 2を接続するセンサストリーミングフレームワークを開発し、SLAMアルゴリズムでデータの精度・遅延・堅牢性を検証した。
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著者: Alessandro Rubert, Stefano Ghidoni, Matteo Terreran
分類: cs.RO
原文アブストラクト
In recent years, Human-Robot Collaboration (HRC) has taken on a central role in Industry 4.0 and collaborative robotics, demanding communication channels that are increasingly bidirectional, intuitive, and efficient. In this context, Augmented Reality (AR) presents itself as a fundamental enabling technology, capable of both displaying information to the operator and gathering spatial data about the surrounding environment. This thesis presents the development of a sensor streaming framework that connects the Magic Leap 2 AR headset with the ROS 2 (Robot Operating System) ecosystem. Using the Unity development environment and the ROSTCP-Connector package, an on-board application for the headset was developed, capable of acquiring real-time data from the integrated sensors (pose tracking, cameras, and environmental sensors) and publishing it to dedicated ROS 2 topics. In order to test the accuracy, latency, and robustness of the generated data stream, the framework was validated using SLAM (Simultaneous Localization and Mapping) algorithms known in the literature. The experimental results demonstrate that the proposed architecture ensures stable data transmission, laying the groundwork for safe real-time interaction and shared spatial awareness, and opening up new perspectives for the control and supervision of robotic systems in complex HRC scenarios.