Quest2ROS2 : A ROS 2 Framework for Bi-manual VR Teleoperation
Li, Jialong LU
; Wang, Zhenguo
; Wang, Tianci
; Stenmark, Maj
LU
and Krueger, Volker
LU
(2026)
21st ACM/IEEE International Conference on Human-Robot Interaction, HRI 2026
p.1288-1292
- 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.
Please use this url to cite or link to this publication:
https://lup.lub.lu.se/record/dadeea92-771a-4f57-9629-8478072a0935
- author
- Li, Jialong
LU
; Wang, Zhenguo
; Wang, Tianci
; Stenmark, Maj
LU
and Krueger, Volker
LU
- organization
-
- LTH Profile Area: AI and Digitalization
- NEXTG2COM – a Vinnova Competence Centre in Advanced Digitalisation
- LU Profile Area: Natural and Artificial Cognition
- ELLIIT: the Linköping-Lund initiative on IT and mobile communication
- Robotics and Semantic Systems
- LTH Profile Area: Engineering Health
- Department of Computer Science
- publishing date
- 2026-03
- type
- Chapter in Book/Report/Conference proceeding
- publication status
- published
- subject
- keywords
- bi-manual manipulation, relative pose control, ros2, teleoperation
- host publication
- HRI 2026 - Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction
- editor
- Torre, Ilaria ; Baillie, Lynne ; Smart, William D. ; Graaf, Maartje De and Gombolay, Matthew
- pages
- 5 pages
- publisher
- Association for Computing Machinery (ACM)
- conference name
- 21st ACM/IEEE International Conference on Human-Robot Interaction, HRI 2026
- conference location
- Edinburgh, United Kingdom
- conference dates
- 2026-03-16 - 2026-03-19
- external identifiers
-
- scopus:105035838742
- ISBN
- 9798400721281
- DOI
- 10.1145/3757279.3788806
- language
- English
- LU publication?
- yes
- id
- dadeea92-771a-4f57-9629-8478072a0935
- date added to LUP
- 2026-06-29 09:56:04
- date last changed
- 2026-06-29 09:57:06
@inproceedings{dadeea92-771a-4f57-9629-8478072a0935,
abstract = {{<p>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.</p>}},
author = {{Li, Jialong and Wang, Zhenguo and Wang, Tianci and Stenmark, Maj and Krueger, Volker}},
booktitle = {{HRI 2026 - Proceedings of the 21st ACM/IEEE International Conference on Human-Robot Interaction}},
editor = {{Torre, Ilaria and Baillie, Lynne and Smart, William D. and Graaf, Maartje De and Gombolay, Matthew}},
isbn = {{9798400721281}},
keywords = {{bi-manual manipulation; relative pose control; ros2; teleoperation}},
language = {{eng}},
pages = {{1288--1292}},
publisher = {{Association for Computing Machinery (ACM)}},
title = {{Quest2ROS2 : A ROS 2 Framework for Bi-manual VR Teleoperation}},
url = {{http://dx.doi.org/10.1145/3757279.3788806}},
doi = {{10.1145/3757279.3788806}},
year = {{2026}},
}