This repository hosts the code of the Tango Ros Streamer application.
It is an Android application for Tango-enabled devices. Its main purpose is to provide Tango sensor data to the ROS ecosystem in order to easily use the Tango functionalities on robots.
Please read our ROS wiki for more information.

This work is developed by Intermodalics in collaboration with Ekumen and Google Tango.
Do not hesitate to give us feedback if something is broken or if you think it lacks some features. The best way to do this is by adding issues to this repository.

• tangobot: An android application to navigate with the Turtlebot using Tango.
• RTAB-Map: Use rtabmap with the Tango data.

The app is available in Google's Play Store: https://play.google.com/store/apps/details?id=eu.intermodalics.tango_ros_streamer
It can be installed on any Tango-enabled device. Note that the minimum Tango version required to run Tango Ros Streamer is Yildun (you will find the Tango release history here). To check the Tango version of your device go to Settings->Apps->Tango Core.
Please read our ROS tutorial for help when running the app.

For this guide, we assume that you have a clean installation of Ubuntu 14.04 and we will use ROS Indigo. However, the app should also work on Ubuntu 16.04 in combination with ROS Kinetic.

Follow this the guide for Indigo (14.04) or Kinetic (16.04) and go for the Desktop -- Full Install:

sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list' sudo apt-key adv --keyserver hkp://ha.pool.sks-keyservers.net --recv-key 421C365BD9FF1F717815A3895523BAEEB01FA116 sudo apt-get update sudo apt-get install ros-indigo-desktop-full sudo rosdep init rosdep update echo "source /opt/ros/indigo/setup.bash" >> ~/.bashrc source ~/.bashrc sudo apt-get install ros-indigo-rosjava-build-tools sudo apt-get install ros-indigo-genjava 

Replace indigo by kinetic if you are using Ubuntu 16.04.

Next, we need to build roscpp_android. A more detailed guide is available here.

sudo apt-get update sudo apt-get install curl git curl -sSL https://get.docker.com/ | sudo sh mkdir ~/ros-android-ndk cd ~/ros-android-ndk git clone https://github.com/ekumenlabs/roscpp_android.git cd roscpp_android ./do_docker.sh --portable 

Note that the last command will take long time to complete.

First clone the repository at the correct location:

mkdir -p ~/tango_ros_ws/src cd ~/tango_ros_ws/src git clone --recursive git@github.com:Intermodalics/tango_ros.git cd ~/tango_ros_ws 

Copy the the content of the output roscpp_android_ndk folder into tango_ros/third_party/roscpp_android_ndk/, except the Android.mk file and the share folder.

cp -r ~/ros-android-ndk/roscpp_android/output/roscpp_android_ndk/lib/ ~/tango_ros_ws/src/tango_ros/third_party/roscpp_android_ndk/ cp -r ~/ros-android-ndk/roscpp_android/output/roscpp_android_ndk/include/ ~/tango_ros_ws/src/tango_ros/third_party/roscpp_android_ndk/ cp ~/ros-android-ndk/roscpp_android/output/roscpp_android_ndk/Application.mk ~/tango_ros_ws/src/tango_ros/third_party/roscpp_android_ndk/ 

Create a local.properties file

touch ~/tango_ros_ws/src/tango_ros/TangoRosStreamer/local.properties 

In this file, write the path to your Android SDK and NDK in the following way e.g.:

ndk.dir=/opt/android-ndk-r10b sdk.dir=/opt/android-sdk-linux 

If you haven't installed the SDK and NDK already, follow the instructions in section Developing with Android Studio.

Install catkin tools if necessary.

sudo apt-get install python-catkin-tools 

Build the app and generate its .apk file.

catkin build --no-jobserver 

Plug your device to your desktop and install the app on your device using adb.

adb install -r -d ~/tango_ros_ws/src/tango_ros/TangoRosStreamer/app/build/outputs/apk/app-debug.apk 

We recommend using Android Studio as a development tool.

The steps detailed below are based on this installation guide.

For Android Studio we need Java, so let's install this first. On Ubuntu 14.04, we need to install openjdk-7-jdk, while on Ubuntu 16.04 we recommend to use openjdk-8-jdk instead.

sudo apt-get update sudo apt-get install openjdk-7-jdk echo "export JAVA_HOME=/usr/lib/jvm/java-7-openjdk-amd64/" >> ~/.bashrc 

In case the build insists of using Java 8 when using Ubuntu 14.04, check and point to the version installed by android-studio:

cat /opt/android-studio/jre/release echo "export JAVA_HOME=/opt/android-studio/jre/" >> ~/.bashrc 

Subsequently, download Android Studio from here and unzip (for example) to /opt/android-studio:

cd /opt sudo unzip ~/Downloads/android-studio-ide-145.3537739-linux.zip 

Let's add it to the path for convenience:

echo export PATH=\${PATH}:/opt/android-sdk/tools:/opt/android-sdk/platform-tools:/opt/android-studio/bin >> ~/.bashrc 

Pick a directory where to store the Android SDK, for example here:

sudo mkdir /opt/android-sdk sudo chown $(whoami) /opt/android-sdk echo export ANDROID_HOME=/opt/android-sdk >> ~/.bashrc 

Launch Android Studio:

source ~/.bashrc source ~/tango_ros_ws/devel/setup.bash studio.sh 

After launch, open the Configure -- SDK Manager. From SDK Platforms, install Android 4.4 and 5.1 (API level 19 + 22). From SDK Tools, install NDK and Android SDK Build-Tools 21.1.2 + 25.0.2 + 25.0.3.

Now extend your PATH variable so that ndk-build can be executed:

echo "export PATH=\{$ANDROID_HOME}/ndk-bundle:\${PATH}" >> ~/.bashrc source ~/.bashrc 

In Android Studio, choose "Import project" and select the app folder (~/tango_ros_ws/src/tango_ros/TangoRosStreamer).

In your local.properties file check that the paths to your Android SDK and NDK are set properly. The Gradle set-up relies on the following variables that need to set up. This can be done using the auto-generated local.properties file or gradle properties in the HOME folder (~/.gradle/gradle.properties).
Example:

ndk.dir=/opt/android-ndk-r10b sdk.dir=/opt/android-sdk-linux 

Plug your device to your desktop and press the green arrow in Android Studio. It will build and install the app on the device.