MRViz – Mixed reality toolkit for ROS visualization

MRViz is a mixed reality toolkit which allows to visualize a robot’s real-time perception of its environment, e.g. a LIDAR point cloud or a heatmap, in the physical world using a Microsoft HoloLens 1/2 headset, Windows integrated cameras and Android devices.

A demonstration of MRViz's capabilities is available on our webpage.

Setup

The toolkit can be tested using Unity and a rosbag file which simulates a robot.

Steps:

1. Clone the repository
2. Open the MRViz directory as a project using Unity Hub
3. Build the project for "PC, Mac & Linux Standalone"
4. Launch a Docker container with the used rosbag (follow instructions in README inside ROS directory)
5. Open the MoveWithCube scene in Unity
6. Press the Play button

Android

MRViz can be tested in the real world using an Android phone.

Setup:

1. Install the Unity Remote app on your phone
2. Build the Unity project for "Android"

More details

Look at the extended Readme here