Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation

TL;DR

Quest2ROS2 is an open-source ROS2 framework that enhances bi-manual VR teleoperation by overcoming workspace limitations, providing intuitive control, safety features, and flexible control modes for improved robot data collection.

Contribution

It introduces a modular, workspace-independent VR teleoperation framework with real-time visualization and versatile control modes, expanding capabilities beyond existing solutions.

Findings

Overcomes workspace limitations via relative motion control

Provides real-time visualization and safety features

Supports multiple control modes for operator flexibility

Abstract

Quest2ROS2 is an open-source ROS2 framework for bi-manual teleoperation designed to scale robot data collection. Extending Quest2ROS, it overcomes workspace limitations via relative motion-based control, calculating robot movement from VR controller pose changes to enable intuitive, pose-independent operation. The framework integrates essential usability and safety features, including real-time RViz visualization, streamlined gripper control, and a pause-and-reset function for smooth transitions. We detail a modular architecture that supports "Side-by-Side" and "Mirror" control modes to optimize operator experience across diverse platforms. Code is available at: https://github.com/Taokt/Quest2ROS2.