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ROSでOculus DK2を使う

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公式をたどれば問題ないのですが.

ros_ovr_sdkの導入

$ cd ~/catkin_ws/src
$ git clone https://github.com/OSUrobotics/ros_ovr_sdk.git
$ cd ..
$ catkin_make
$ sudo cp src/ros_ovr_sdk/sdk/ovr_sdk_linux_0.5.0.1/LibOVR/Projects/Linux/90-oculus.rules /etc/udev/rules.d

導入後,

$ roscore

して,別ターミナルで,

$ rosrun ros_ovr_sdk ovrd

して,別ターミナルで

$ rosrun ros_ovr_sdk OculusWorldDemo

すると,おなじみのデモができる.

# 今知ったのですが,コレW/A/S/Dキーで動いたり,I/Kキーで視野角変えられたりするんですね...知らなかった...

oculus_rviz_pluginsの導入

$ cd ~/catkin_ws/src
$ git clone https://github.com/OSUrobotics/oculus_rviz_plugins.git
$ cd ..
$ catkin_make

一応僕のフォークして編集したものは,位置姿勢を微調整できるようになっているので,よければこちらをクローン/フォークしてみてください:)

参考

https://github.com/OSUrobotics/ros_ovr_sdk
https://github.com/OSUrobotics/ros_ovr_sdk/wiki/Setup%20Instructions
https://github.com/OSUrobotics/oculus_rviz_plugins

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