README.md

Android sensor bridge for ROS

Publish sensor data from your phone (connected via WiFi or USB) to ROS.

Overview

A collection of python scripts that publish sensor data from your phone (connected via WiFi or USB) to ROS. Supports a small variety of data logging apps (no dedicated Android app required):

• ip_webcam_bridge.py: Connects to IP Webcam and publishes camera images as sensor_msgs/CompressedImage. Launch http://<phone_ip>:<port> in the browser to configure or use service calls als follows

  • use service <node>/<setting>/<get> to retrieve the current value of a setting (e.g. $ rosservice call /ip_webcam_bridge/video_size/get returns 720x480)
  • use service <node>/<setting>/<options> to list all available options for a setting (e.g $ rosservice call /ip_webcam_bridge/video_size/options returns 1920x1080; 1440x1080; 1088x1088; 1280x720; 1056x704; 1024x768; 960x720; 800x450; 720x720; 720x480; 640x480; 352x288; 320x240; 256x144; 176x144)
  • use service <node>/<setting>/<set> to change a setting (e.g. $ rosservice call /ip_webcam_bridge/video_size/set "value: {data: '720x480'}")

• sensrec_bridge.py: Connects to Sensors Record and publishes:

  • sensor_msgs/Imu inertial measurement based on phone's rotation vector, linear acceleration and gyroscope
  • sensor_msgs/MagneticField magnetic field based on phone's magnetometer
  • nmea_msgs/Sentence low-level GPS NMEA sentecnes for processing with 3rd party tools (e.g. nmea_navsat_driver)
  • sensor_msgs/NavSatFix location based on phone's location API
  • geometry_msgs/TwistStamped velocity based on phones location API
  • battery info
  • pressure
  • ambient light intensity

  Check the Android Sensor Types documentation for detais!

Related projects

• android_sensors_driver relies on a dedicated Android app