The repository vive_ros_wrapper is forked from robosavvy vive_ros.
- The file src/vive_node.cpp has been changed to use the compressed rgb images from the zed camera.
- Zed Camera;
- Zed_ros_wrapper and zed_ros_interface;
- Compatible Zed SDK version.
A video example: https://youtu.be/1hiX0f6UAew
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
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
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
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
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:
- Start a
roscore
- Launch the SteamVR's
vrserver
by launching the file:roslaunch vive_ros server_vr.launch
- Launch the node:
roslaunch vive_ros vive.launch
- 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
-
Hardware Safety code added in order to shutdown of hardware. This will prevent hardware from any damage caused due to abrupt shutdown.
-
It has code updated for publishing HTC Vive Component (HTC Vive Headset and 2 HTC Controllers) data.