Changed from https://github.com/google-ar/arcore-android-sdk/tree/main/samples/hello_ar_kotlin
Use 6 DoF message from Google AR Core
Use Websocket to send message to Rosbridge
For Xiaomi14
-
rostopic name: /ar_pose
type: Float64MultiArray
size: 9
data: x, y, z, w, i, j, k, isTracking, isGrasp -
rostopic name: /ar_joy
type: Float64MultiArray
size: 6 data: vel_x, vel_y, w_yaw, hasEnabled, isSwitch, isGrasp
Use rosbridge_server as a Websocket client
Use pinocchio and mujoco_base to simulate a 6 DoF robot