https://github.com/otl/oculus
Oculus RIft ros node
https://github.com/otl/oculus
Last synced: 9 months ago
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Oculus RIft ros node
- Host: GitHub
- URL: https://github.com/otl/oculus
- Owner: OTL
- License: bsd-3-clause
- Created: 2013-07-12T12:54:15.000Z (over 12 years ago)
- Default Branch: master
- Last Pushed: 2015-04-15T14:54:56.000Z (over 10 years ago)
- Last Synced: 2025-04-09T21:52:50.949Z (9 months ago)
- Language: C++
- Size: 486 KB
- Stars: 30
- Watchers: 8
- Forks: 16
- Open Issues: 5
-
Metadata Files:
- Readme: README.md
- License: LICENSE.txt
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README
ROS node for Oculus Rift
=========================
This is [ROS](http://ros.org) driver for [Oculus Rift](http://www.oculusvr.com).
see http://developer.oculusvr.com for Oculus Rift SDK.
Install
-----------------
Please copy OculusSDK/LibOVR to oculus_driver/ directory and build it in Debug mode.
(If you are using OSX, please enable rtti and exceptions.)
If you want to use Release mode, please edit CMakeLists.txt of oculus_driver/.
Supported OS
-----------------
This package supports OSX (10.7.5 and MacPorts) and Linux (Ubuntu12.04).
Packages
------------------
* oculus_driver: oculus rift HMD ROS driver.
* oculus_msgs: oculus HMD message definitions.
* oculus_viewer: viewer for stereo cameras.
Nodes
=============
oculus_node (in oculus_driver package)
------------------
publishes sensor data and HMD information of Oculus Rift.
### publish
* /oculus/orientation (geometry_msgs/Quaternion) orientation of sensor.
* /oculus/hmd_info (oculus_ros/HMDInfo) HMD device info.
* /tf
### param
* ~frequency (double: default 10.0) [Hz] rate of publish
* ~parent_frame (string: default parent) tf frame name of parent
* ~oculus_frame (string: default oculus) tf frame name of oculus
image_distort_viewer (in oculus_viewer package)
-------------------
Distort images by /oculus/hmd_info params and display it.
You have to adjust some params for your stereo camera manually.
A sample launch file is in oculus_viewer/launch/oculus_sample.launch.
### Subscribe
* /camera/left/image_raw (sensor_msgs/Image)
* /camera/right/image_raw (sensor_msgs/Image)
* /oculus/hmd_info (oculus_ros/HMDInfo) HMD device info.
### Publish
* /camera/left/image_raw/distorted (sensor_msgs/Image) left distorted image
* /camera/right/image_raw/distorted (sensor_msgs/Image) right distorted image
### param
* ~image_transport (string: default "raw") this node uses image_transport for subscribe. If you are transporting remote images, you should use "compressed".
* ~use_display (bool: default true) true: show distored and combined image in GUI. false: publish distored image only.
License
-----------
BSD