vive_ros_wrapper

The repository vive_ros_wrapper is forked from robosavvy vive_ros.

Changes

• The file src/vive_node.cpp has been changed to use the compressed rgb images from the zed camera.

Additional requirements due to the change

• Zed Camera;
• Zed_ros_wrapper and zed_ros_interface;
• Compatible Zed SDK version.

Example

A 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.

xrandr --output DP-1 --auto --primary --output HDMI-0 --auto --right-of DP-1

here DP-1 is a port which your pc monitor is connected, and HDMI-0 is a port which your HTC is connected, modify thoese values accordingly.

TO check the ports run follwing:

xrandr 

In case that the HTC device is not detected by running xrandr, you probably need to enable HMD on your nvidia config. This problem is a common issue with modern GPUs. Therefore run

cat /etc/x11/xorg.conf

to see whether HMD is enabled. If no file exist run

sudo nvidia-xconfig

to create the file. Afterwards vim in

sudo vim /etc/x11/xorg.conf

and enable HMD device by adding the AllowHMD option:

Section "Device"
    Identifier     "Device0"
    Driver         "nvidia"
    VendorName     "NVIDIA Corporation"
    Option         "AllowHMD" "yes"
EndSection

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.