ROS Driver for Android Sensors

This is a nice android application that allows for publishing of data from a phone to a publish ROS master. This can be used to record a ROS bag of data or to preform SLAM on a higher powered computer. Note that this only works on phones that use the Camera1 API (so no newer camera2 api phones). If you are interested in recording data for a Camera2 API phone check out our other repository android-dataset-recorder. Also note that on some phones the number of cameras that you can use is limited (and thus if you select more the app will fail). This is caused by a limit to the bandwidth over the camera buses on the physical phone hardware. Original codebase is from here and has been updated to both compile with the new versions and added new features. This has been tested on the "Yellowstone" Tango Tablet Development Kit but should work on all Camera1 API phones.

How to compile and install?

• Downlaod Android Studio and install https://developer.android.com/studio/index.html
• Run git clone https://github.com/rpng/android_sensors_driver.git android_sensor_project
• Open android_sensor_project as existing project in Android Studio
• Press run button
• Build will fail but suggest to install missing frameworks. Click on the link, install missing, and press run again.
• You can choose to run on a simulator or on your phone
  • Phone
    • Your phone must have developer mode enabled.
    • Enter IP of rosmaster
  • Emulator
    • IP of localhost of emulator computer is 10.0.0.2
    • Enter 10.0.0.2 in your app in emulator, if ros is running at your local computer as well
• Please open an issue if you are unable to build
• To calibrate your camera, we recommend recording a bag and using kalibr.

Published Topics

• Camera compressed feed (if enabled) - /android/tango1/camera_#/image/compressed
• Camera raw feed (if no compression) - /android/tango1/camera_#/image_raw
• Current GPS position (fused) - /android/tango1/fix
• Front luminance sensor value - /android/tango1/illuminance
• Current device imu data (100Hz) - /android/tango1/imu
• Current device magnetometer data - /android/tango1/magnetic_field
• Current device temperature - /android/tango1/temperature
• Current device pressure - /android/tango1/barometric_pressure

Screenshots