Lightweight tablet devices for command and control of ROS-enabled robots

Effective interaction with autonomous devices is a complex problem as the devices themselves are mobile. For the vast majority of devices operating over an extended range a fixed operator or oversight position is inappropriate and mobile oversight becomes essential. Although walking in the vicinity of an autonomous robot with a networked laptop may be appropriate for some environments, such an approach becomes increasingly cumbersome as the robot moves out into the field where weather and other operational concerns are factors. Here we examine the use of lightweight tablet computers as a generic interface to autonomous systems. We demonstrate how ROS-enabled computers can be controlled using Android tablets using standard software toolkits. Tools have been developed for the automatic conversion between ROS messages and the corresponding user interface elements on the tablet and a collection of robot-centric user interface elements have been developed to assist in developing systems for different robot sensors and platforms. Systems are demonstrated for unmanned underwater, surface, flying and rolling ground contact vehicles.