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ARViz is an RViz implementation for Augmented Reality. This application runs inside the Microsoft Hololens AR device as a UWP application, without the need to use Ros Bridge. This project has as goal to combine:

  • TF2 support for ROS C#.
  • Secure communications.
  • Hololens Positioning in the scene.

This project uses the UWP port of ROS2 done by Esteve Fernández. You can have a look at the talk he gave at ROSCon 2018 about ROS2 for Android, iOS and UWP to understand the underlying code Video Slides.

This project is funded by ROSIN as a focused Technical Project.

Project mantainers:



Supported by ROSIN - ROS-Industrial Quality-Assured Robot Software Components.
More information:


This project has received funding from the European Union’s Horizon 2020
research and innovation programme under grant agreement no. 732287.

Development Status

Task Status Progress
Hololens positioning. Hololens node which publish TF2 messages with the device position with respect the world frame. Finished development of TF2 bindings for rcldotnet at IntelligentRoboticsLabs geometry2 repo (branch: rcldotnet) 100%
User AR Interface Finished initial version 100%
Final Development of C# bindings Finished development of Nested types and Collections, needed for TF2 bindings, finished. PRs pending in 100%
AR representation of basic types: scalar, images, pointcloud, laser, TFs, Maps, PoseArray and Paths 100%
Integration of data types in rcldotnet 100%
Acceptance tests and final design of user AR Interface Work in progress. Acceptance tests pending. 90%🔄
Multi robot in same scene Multiple robots identified in same scene with minimal initial setup required. 100%
Unitary and integrations tests 100%
System final acceptance questionnaire Work in progress. 50%🔄
Final Documentation Wiki 100%

Videos & demos (the images link to the youtube video)

Global positioning system

ARViz Hololens Positioning

ARViz GUI and Data Visualization

ARViz GUI and Data Visualization

TFs performance demonstration

ARViz TF2 demo

AR UI - Topics and Types


Intelligent Robotics - - @IntellRobotLabs


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