ROS Android Sensors

Ros Interface to Android Sensors!

Heavily Inspired by ros_android_sensors_driver during development.

Currently Supporting Android 6.0 (Marshmallow) API 23

Intended for Aiding Robot Navigation and Localization

List of Supported Sensors:

• GPS
• Gyroscope
• Accelerometer
• Magnetometer
• Barometer
• Camera
• Microphone

Other Tasks:

• Revise Covariance Matrices dynamically based on professed sensor accuracy
• Consider Odometry Visualization with onboard Kalman filter?
• Consider Serial Communication, or other modes of connection with the robot

How to Run

[Optional] Configure USB Tethering

Before you start, the below steps are recommended if you don't want to risk network disconnection.

1. Edit the network interfaces file:

   sudo vim /etc/network/interfaces

2. Add the following lines:

   allow-hotplug usb0
   iface usb0 inet dhcp

3. Re-start networking:

   sudo service networking restart

4. Configure USB Tethering on the Android Device:

   Settings > Mobile Hotspot and Tethering > USB Tethering ON

Now you should be ready to go!

Running the App

1. Start roscore on the host computer:

   roscore

2. Poll the host computer's IP address:

   ifconfig [usb0/wlan0]

   Whether or not it is usb0/wlan0, etc. is dependent on how you configured the network settings.

3. Launch the app, and enter the IP address.

4. To test whether or not the topics are being published:

   rostopic list
   rostopic echo /android_imu
   rostopic echo /android_gps