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arXiv · 2601.18289

Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation

Jialong Li·Zhenguo Wang·Tianci Wang·Maj Stenmark·Volker Krueger
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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.

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Jialong Li, Zhenguo Wang, Tianci Wang, Maj Stenmark, Volker Krueger. 2026-01-26. Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation. https://arxiv.org/abs/2601.18289

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