This project can be divided into two sections: teleoperation using Leap Motion and streaming images to an Android phone to get a VR experience inside a VR headset. Before going to discuss each design aspect, let's see how we have to interconnect these devices.

The following figure shows how the components are interconnected for this project:

Figure 4: Hardware components and connection

You can see that each device (that is, PC and Android phone) is connected to a Wi-Fi router, and the router has assigned an IP to each device. Each device communicates using these IP addresses. You will see the importance of these addresses in the upcoming sections.

Next, we will see how we can teleoperate a robot in ROS using Leap Motion. We will be controlling it while wearing the VR headset. So, we don't need to press any buttons to move the robot; rather, we can just move it with our hands.

The basic operation involved here is converting the Leap Motion data into ROS Twist...