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

Jialong Li; Zhenguo Wang; Tianci Wang; Maj Stenmark; Volker Krueger

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

Robotics 2026-01-27 v1

Authors: Jialong Li , Zhenguo Wang , Tianci Wang , Maj Stenmark , Volker Krueger

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.

Keywords

teleoperation planetary rover autonomy

Cite

@article{arxiv.2601.18289,
  title  = {Quest2ROS2: A ROS 2 Framework for Bi-manual VR Teleoperation},
  author = {Jialong Li and Zhenguo Wang and Tianci Wang and Maj Stenmark and Volker Krueger},
  journal= {arXiv preprint arXiv:2601.18289},
  year   = {2026}
}

Comments

HRI 2026

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