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.

翻译：Quest2ROS2是一个用于双手遥操作的开源ROS2框架，旨在扩展机器人数据采集规模。作为Quest2ROS的延伸，该框架通过基于相对运动的控制方式克服了工作空间限制——通过计算VR控制器位姿变化来驱动机器人运动，从而实现直观且与绝对位姿无关的操作。本框架集成了关键可用性与安全功能，包括实时RViz可视化、简化的夹持器控制以及用于平滑过渡的暂停-重置功能。我们详细阐述了一种模块化架构，该架构支持“并排”与“镜像”两种控制模式，以在不同平台上优化操作者体验。代码发布于：https://github.com/Taokt/Quest2ROS2。