Requirements

Phone

• Android 8.0 (API 26) or newer. Tested on Android 16.

• A GPU with OpenGL ES 3 for the 3D view (every recent phone).

• Wi-Fi on the robot’s network, or a VPN / Discovery Server.

Robot

• ROS 2 with Fast DDS (rmw_fastrtps_cpp) for services, actions, parameters and lifecycle. Topics also work with other DDS implementations.

• Bundled interfaces (from ROS 2 Jazzy): action_msgs, builtin_interfaces, diagnostic_msgs, example_interfaces, geographic_msgs, geometry_msgs, lifecycle_msgs, nav2_msgs, nav_msgs, rcl_interfaces, rosgraph_msgs, sensor_msgs, shape_msgs, std_msgs, std_srvs, tf2_msgs, trajectory_msgs, turtlesim, unique_identifier_msgs and visualization_msgs. Other types can be added as custom types.

Permissions

Internet and Wi-Fi multicast (for DDS), notifications (robot alerts), and a foreground service (keeping the connection alive in the background).