RoSTAR: ROS-based Telerobotic Control via Augmented Reality

Abstract— Despite the advancement of Augmented Reality (AR), the process of creating meaningful and intuitive human-robot interaction (HRI) interfaces with such technology is still extremely challenging. The cost of developing an AR robotic application are exceptionally high due to the software licensing constraints and real-robot experiments. To mitigate these limitations, we propose RoSTAR, a novel and open source HRI system based on Robot Operating System (ROS) and Augmented Reality (AR). RoSTAR is developed using ROS to simulate a 6 Degree of Freedom (DOF) robotic arm and is capable of exporting the robot arm model directly to Unity. An AR Head Mounted Display (HMD) is deployed for delivering user interaction and instructions to a ROS powered robotic arm. This system has the potential to be used for different process tasks, such as robotic gluing, dispensing and arc welding. Quality of Experience (QoE) evaluation at the user side will be carried out in the future to understand and enhance end user satisfaction.