  In this work, we introduce iviz, a mobile application for visualizing ROS
data. In the last few years, the popularity of ROS has grown enormously, making
it the standard platform for open source robotic programming. A key reason for
this success is the availability of polished, general-purpose modules for many
tasks, such as localization, mapping, path planning, and quite importantly,
data visualization. However, the availability of the latter is generally
restricted to PCs with the Linux operating system. Thus, users that want to see
what is happening in the system with a smartphone or a tablet are stuck with
solutions such as screen mirroring or using web browser versions of rviz, which
are difficult to interact with from a mobile interface. More importantly, this
makes newer visualization modalities such as Augmented Reality impossible. Our
application iviz, based on the Unity engine, addresses these issues by
providing a visualization platform designed from scratch to be usable in mobile
platforms, such as iOS, Android, and UWP, and including native support for
Augmented Reality for all three platforms. If desired, it can also be used in a
PC with Linux, Windows, or macOS without any changes.
