vive_ros

Video example: https://youtu.be/1hiX0f6UAew

Installation instructions

Download and build Valve's OpenVR SDK (most recently tested version):

  cd ~
  mkdir libraries
  cd libraries
  git clone https://github.com/ValveSoftware/openvr.git -b v1.3.22
  cd openvr
  mkdir build
  cd build
  cmake -DCMAKE_BUILD_TYPE=Release ../
  make

Allow hardware access

Then plug-in VIVE to your computer and make sure you can see the devices on /dev/hidraw[1-6].

Copy the file 60-HTC-Vive-perms.rules to the folder /etc/udev/rules.d. Then run:

  sudo udevadm control --reload-rules && sudo udevadm trigger

Install Steam and SteamVR

Download latest steam version at https://store.steampowered.com/. You should get the file steam_latest.deb in your ~/Downloads folder

Install Steam:

  sudo dpkg --install ~/Downloads/steam_latest.deb

Note: If it gives a dependency error run sudo apt install --f and re-run the install steam command (sometimes you may need to repeat this proccess multiple times)

Run Steam:

  steam

Setup or log in into your Steam account and install SteamVR from the Steam store.

Steam files should be located in: ~/.steam/steam

SteamVR files should be located in: ~/.steam/steam/steamapps/common/SteamVR

Configure display.

Go to your OS display options to enable HMD's display.

Usage

Before start:

• Make sure VIVE is present as several /dev/hidraw* and you have access permissions.
• Make sure VIVE display is enabled as extended view.
• Libraries and Steam are present on the folders described by INSTALL.md.

Procedure:

1. Start a roscore
2. Launch the SteamVR's vrserver by launching the file: roslaunch vive_ros server_vr.launch
3. Launch the node: roslaunch vive_ros vive.launch
4. To close the node you can Ctrl+C. To close the vr server you have to kill the process. For convenience: rosrun vive_ros close_servervr.sh

Update

1. Hardware Safety code added in order to shutdown of hardware. This will prevent hardware from any damage caused due to abrupt shutdown.

2. It has code updated for publishing HTC Vive Component (HTC Vive Headset and 2 HTC Controllers) data.