ROS2MR: Connecting ROS 2 Motion Planning to Mixed-Reality Trajectory Visualization
ROS2MR: Connecting ROS 2 Motion Planning to Mixed-Reality Trajectory Visualization
This research presents ROS2MR, an extension of the MR-Robotics LAB platform designed to visualize ROS 2 motion plans in mixed reality.
The paper introduces ROS2MR, a software extension that converts ROS 2 joint trajectories into a format compatible with mixed-reality headsets like the Apple Vision Pro and Meta Quest 3, enabling offline inspection of motion plans without a live connection to the robot controller.
Source: arXiv Robotics — research abstracts · Read original article ↗
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arXiv:2611.11830v1 Announce Type: cross Abstract: Mixed reality (MR) allows users to inspect planned robot motion within their physical surroundings, but displaying trajectories from robotics software requires converting their joint configurations and timing into a format the MR application can play back. This paper presents ROS2MR, an extension of the MR-Robotics LAB platform that converts YAML-serialized ROS 2 join
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t trajectories, including MoveIt motion plans, into the platform's existing JSON playback format. The converter validates the input, maps arm joints by name, and resamples the trajectory at a nominal rate of 30 Hz, using cubic Hermite interpolation when joint velocities are supplied and linear interpolation otherwise, while binary gripper commands are sampled separately using a zero-order hold. A Python export helper
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combines sequences of motion plans and gripper states into a single trajectory and checks positional agreement at segment boundaries. The MR application was also adapted for Apple Vision Pro in addition to Meta Quest 3. A technical evaluation showed that the converter preserved the normalized duration and endpoint configurations for dense, sparse, and irregularly timed inputs. With supplied velocities, the position
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RMSE was approximately 2.91x10^-5 degrees for all sampling patterns; without them, sparse input increased it to 0.85 degrees, and close positional agreement did not guarantee accurate velocity profiles. A pick-and-place sequence retained its open--closed--open gripper order, although off-grid transitions were shifted to the output sampling grid. The resulting file-based pathway enables inspection of ROS-generated tra
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jectories in MR without a live ROS connection.
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Source：arXiv Robotics — research abstracts · arxiv.org