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For mobile robots, mobile manipulators, and autonomous vehicles to safelynavigate around populous places such as streets and warehouses, human observersmust be able to understand their navigation intent. One way to enable suchunderstanding is by visualizing this intent through projections onto thesurrounding environment. But despite the demonstrated effectiveness of suchprojections, no open codebase with an integrated hardware setup exists. In thiswork, we detail the empirical evidence for the effectiveness of suchdirectional projections, and share a robot-agnostic implementation of suchprojections, coded in C++ using the widely-used Robot Operating System (ROS)and rviz. Additionally, we demonstrate a hardware configuration for deployingthis software, using a Fetch robot, and briefly summarize a full-scale userstudy that motivates this configuration. The code, configuration files(roslaunch and rviz files), and documentation are freely available on GitHub athttps://github.com/umhan35/arrow_projection.

Projecting Robot Navigation Paths: Hardware and Software for Projected AR