Quest2ROS: An App to Facilitate Teleoperating Robots

Michael C. Welle, Nils Ingelhag, Martina Lippi, Maciej Wozniak, Andrea Gasparri, Danica Kragic

Keywords: Teleoperating Robots, Quest2ROS

TL;DR: Quest2ROS is a stand-alone app available for Oculus Quest 2 and 3 that facilitates the teleoperation of robots via ROS

Abstract:

Teleoperation is an integral part of robotics research. In this work, we present Quest2ROS, a stand-alone app available %Metas AppLab
for Oculus Quest 2 and 3 that facilitates the teleoperation of robots via ROS. Quest2ROS publishes the position and velocity of both hand-held controllers, the button pressed as well as enables haptic feedback via the controller vibration.
The Quest headset does not have to be worn at teleoperation time to not restrict the operator, furthermore, a simple way to align the coordinate frame of the controller with any given robot in the real world is provided.
We measure the tracking accuracy of a Quest 2 to be 0.46 mm on average, with mean latency between the Quest 2 and a ROS node being 82 ms and update frequency of relevant ROS topics being 71.96 Hz.

Submission Number: 8