@INPROCEEDINGS{TEI14_TUI_Simulation,
  author = {Diewald, Stefan and Roalter, Luis and M\"{o}ller, Andreas and Kranz,
	Matthias},
  title = {{Simulation of Tangible User Interfaces with the ROS Middleware}},
  booktitle = {Adjunct Proceedings of the 8th International Conference on Tangible,
	Embedded and Embodied Interaction},
  year = {2014},
  series = {TEI '14},
  month = feb,
  abstract = {Prototyping is an important part in research and development of tangible
	user interfaces (TUIs). On the way from the idea to a working prototype,
	new hardware prototypes usually have to be crafted repeatedly in
	numerous iterations. This brings us to think about virtual prototypes
	that exhibit the same functionality as a real TUI, but reduce the
	amount of time and resources that have to be spent.
	
	For that reason, we have created a toolkit that can be used for developing
	and testing fully functional implementations of a tangible user interface
	as a virtual device. The entire interaction between the TUI and other
	hardware and software components is controlled by a middleware, while
	the human interaction with the TUI can be explored using a 3D simulator
	and 3D input/output technologies. We argue that by simulating parts
	of the hardware-software co-design process, the overall development
	effort can be reduced.},
  keywords = {TUI prototyping, middleware, virtual TUI, Gazebo, ROS},
  location = {Munich, Germany},
  numpages = {6}
}