NOTE

Please note, this is a modified version of the original package vive_ros by robosavvy. Most cred goes to robosavvy and please check out the original package as well. The added files are vive_pose.cpp/.h which main purpose is to read the absolute pose in space (as I didn't get it to work with the ros_vive). I've probably missed some part, as in the demo video it is clear tracking of the controllers is possible.

Usage

(This was tested on Ubuntu 18.04 on a Dell XPS 9560).
When everything is installed and set up (SteamVR, OpenVR and what not to get HTC-Vive work on Ubuntu), start the server to read the data:

roslaunch vive_ros server_vr.launch

To close the server simply run:

rosrun vive_ros close_server.sh

To start tracking the controllers run (added part from original package):

rosrun vive_ros vive_pose

vive_ros (original README content below)

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

Install Steam:

  sudo apt install steam

Run Steam:

  steam

Setup or log in into your Steam account and install SteamVR app from 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