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. Launch the SteamVR's vrserver by launching the file: roslaunch vive_ros server_vr.launch
2. Launch the node: roslaunch vive_ros vive.launch
3. 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