PicoXR ROS Integration Toolkit

Project Overview

This repository provides a cross-platform (ROS1/ROS2) interface and toolkit for integrating PicoXR devices with robotics applications, especially for controlling dual-arm robots (such as ARX and UR5e) using XR (Extended Reality) input. It includes:

• ROS1 and ROS2 packages for interfacing with PicoXR devices and publishing XR pose and controller data.
• Custom message definitions for XR data (xr_msgs).
• Example applications for mapping XR input to robot control, including kinematics and visualization.
• Assets for robot models (URDF, MJCF, meshes) and simulation.

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Repository Structure

• ros2/ and ros1/: ROS2 and ROS1 packages, each containing:
  • picoxr: Main interface node for PicoXR device data.
  • xr_msgs: Custom message definitions for XR pose and controller data.
• examples/:
  • arx_ros2 and arx_ros1: Example applications for mapping XR input to ARX robots (with kinematics, control, and visualization).
  • assets: Robot models and simulation files (URDF, MJCF, meshes, etc.).
  • python: Python scripts for kinematics and simulation (e.g., Mujoco/URDF conversion, IK solvers).

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Main Features

XR Data Interface

• picoxr node (ROS1/ROS2): Connects to PicoXR devices, parses device state JSON, and publishes XR pose and controller data as custom ROS messages.
• xr_msgs: Defines messages for XR head and controller state:
  • Custom.msg: Timestamp, input, head pose, left/right controller.
  • Head.msg: 7-DOF pose, status.
  • Controller.msg: Axes, buttons, gripper, trigger, 7-DOF pose, status.

Example Applications

• arx_ros2/arx_ros1:

  • Subscribe to XR pose data.
  • Convert XR pose to robot end-effector pose (ARX).
  • Use kinematics solvers (Placo, Eigen) to compute joint positions.
  • Publish joint commands to robot or simulation.
  • Visualization tools for URDF/MJCF robots.

• assets:

  • Ready-to-use robot models for ARX and UR5e (URDF, MJCF, meshes).
  • Conversion scripts between URDF and MJCF.
  • Example scenes for simulation.

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Installation

Dependencies

• ROS2 (Foxy or Humble) or ROS1 (Melodic/Noetic)
• C++14 or later
• nlohmann/json (auto-fetched in CMake)
• Placo, Eigen, TF2, and other dependencies (see CMakeLists.txt and package.xml)
• PicoXR Robot SDK (expected at /opt/apps/roboticsservice/SDK)

Example install for ROS2 Foxy

sudo apt install ros-foxy-rclcpp ros-foxy-tf2
# For other dependencies, see CMakeLists.txt and install as needed

Build (ROS2)

cd ros_ws
colcon build
source install/setup.bash

Build (ROS1)

cd ros_ws
catkin_make
source devel/setup.bash

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Usage

Run XR Publisher Node

ROS2:

ros2 run picoxr talker

ROS1:

rosrun picoxr publisher

Run Example Application

ROS2:

ros2 run arx_ros2 main_v1   # publish end pose
ros2 run arx_ros2 main_v2   # publish joints pose
ros2 run arx_ros2 urdf_viz  # send robot pose data to remove `urdf-viz` server.

ROS1:

rosrun arx_ros1 main_v1
rosrun arx_ros1 main_v2

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Message Definitions

xr_msgs/Custom.msg

int64 timestamp_ns
int32 input
Head head
Controller left_controller
Controller right_controller

xr_msgs/Head.msg

float32[7] pose
int32 status

xr_msgs/Controller.msg

float32 axis_x
float32 axis_y
bool axis_click
float32 gripper
float32 trigger
bool primary_button
bool secondary_button
bool menu_button
float32[7] pose
int32 status

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Assets

• URDF/MJCF models for ARX and UR5e robots.
• Mesh files for simulation and visualization.
• Conversion scripts: urdf_to_mjcf.py, mjcf_to_urdf.py.
• Example scenes for Mujoco and other simulators.

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License

• Main code: Apache License 2.0 (see LICENSE)
• Some assets: See individual asset directories for their licenses.