VizMini2 brings RViz and ROS 2 tools to Android
Key Takeaway
VizMini2 is an Android application that allows users to visualize, drive, and inspect ROS 2 robots directly via DDS without requiring a bridge or robot-side installation.
Summary
VizMini2 is a new Android app designed for ROS 2 developers to interact with robots using mobile devices. It provides an RViz-like 3D interface, teleoperation capabilities, and diagnostic tools. The app acts as a native DDS participant, communicating directly with robot nodes over the network.
Technical implementation of VizMini2
- Operates as a DDS participant on the network, currently supporting Fast DDS.
- Provides 18 different 3D display types including Map, LaserScan, PointCloud2 (up to 500,000 points), and RobotModel.
- Supports Nav2 goals and initial poses directly from the map.
- Includes MCAP bag recording with local playback and compatibility with Foxglove.
- Allows for teleoperation via on-screen joysticks or Bluetooth/USB gamepads.
- Requires a small mesh server on the robot for STL/Collada robot model meshes.
Why it matters
The app enables mobile robot inspection and control without the need for heavy laptops or custom web-server implementations on the robot hardware.
Original reference: discourse.openrobotics.org →