IEEE Robotics & Automation Magazine - March 2022 - 64

Intent " and " Visualizing Robotic Arm's Goal Pose During
Object's Handover " sections can be found in the cited works,
while in the following subsections, we focus on how the
ARviz platform enabled these studies and summarize the
studies' key findings related to the use of AR elements provided
by ARviz.
Mobile Robot Navigation
We demonstrate the use of ARviz for mobile robot navigation
with the 2D Arrow Tool Plugin, as shown in Figure 7 and a
demonstration video (https://youtu.be/byUUtB5SWsM).
The robot uses the standard ROS Navigation stack, and it is
launched and run independently from ARviz, without any
modification needed. With the 2D Arrow Tool Plugin, users
are able communicate the desired goal pose to the robot's navigation
stack through a standard ROS topic, as demonstrated
in the " Available Plugins " section, allowing them to move the
robot to any location. Compared to specifying the goal with
Rviz through a 2D monitor, this Tool Plugin in ARviz offers
the benefit of enabling better spatial and situational awareness
of the goal position, as the user can see and specify the goal
pose directly over the physical space.
Visualizing Occluded Robots and
Communicating Motion Intent
In the work by Gu et al. [12], ARviz was used to visualize the
location of the Fetch Mobile Robot using an AR headset. This
allowed the user to visualize the robot even when the robot is
occluded by the environment. Furthermore, the robot's direction
of motion is conveyed to the user by visualizing an arrow
emanating from the robot model. To achieve this, two display
plugins were used to set up the AR environment, as shown
in Figure 8(b).
The first Display Plugin used is Stamped Pose Display. A
preload mesh of the mobile robot is used to customize the
visualization. The second Display Plugin is VisualizationMarkerArray
Display. In this system, there are two types of markers
used, LINE and ARROW. The LINE markers are used to
(a)
(a)
(b)
(b)
Figure 6. The tf Display Plugin in ARviz. (a) The tf Display Plugin
being used with different robots. (b) The tf Display Plugin control
panel, allows users to toggle the visibility of individual frames
or all of the frames at once, as well as other elements such as
frame names and arrows linking the frames.
64 * IEEE ROBOTICS & AUTOMATION MAGAZINE * MARCH 2022
Figure 7. ARviz use case 1: navigating a mobile robot. (a) The
user using ARviz with HoloLens2, navigating the Fetch Mobile
Robot. (b) The AR view with tf Display overlaid on top and 2D
Navigation Tool being used to navigate the robot.

https://www.youtube.com/watch?v=byUUtB5SWsM

IEEE Robotics & Automation Magazine - March 2022

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - March 2022

Contents
IEEE Robotics & Automation Magazine - March 2022 - Cover1
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