Oculus-Rift - Gazebo Navigator (PS3 controller & keyboard op)
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README.md

Oculus-Rift Gazebo Navigator

IMAGE ALT TEXT HERE

One of the highlights of the Gazebo 4.0.0 release is the added support for the trending VR platform: Oculus-Rift. This navigator is a simple tool that exploits the capabilities of the simulation environment's physics-engine to provide you with the ultimate virtual-reality experience in Gazebo. So simulation will no longer be just a part of development, but instead act as a new medium to demostrate your product to clients in its work environment (in the glory of full-scale).

Oculus-Rift Gazebo Navigator was featured on Gazebo's blog (Open Source Robotics Foundation).
Checkout the real AGV by Hope Technik: SESTO Autonomous Trolley.

Dependencies & Prerequisites

Core: ROS Hydro, Catkin: see package.xml

Custom Requirements: Gazebo 4.0.0, oculussdk

Other Requirements: ps3joy (Ubuntu) or osx_joystick (OSX)

Installation & Setup

See the wiki for more details.

Controls

PS3 Controller

Spawn Navigator (Empty world):

$ roslaunch oculus_gazebo_navigator example_oculus_ps3.launch

Credit: Jonathan Bohren

  • Select Button: robot mode control

    default - toggle autonomous navigation mode
    a. Hold L2 - toggle isolated-bot control mode
    b. Hold R2 - toggle mirror-bot mode (playback rosbag data)

  1. Left Joystick: virtual-camera maneuver

    Normal-bot control:
    default - walking speed
    a. Hold L2 - running speed

    Isolated-bot control:
    default - normal speed (x, y bot maneuver)
    b. Hold L2 - high speed (x, y bot maneuver)

  2. Right Joystick: robot-teleop

    Normal-bot control:
    default - normal speed (x, y bot maneuver)
    a. Hold R2 - normal speed rotation (yaw bot maneuver)
    b. Hold L2 - high speed (x, y bot maneuver)
    c. Hold R2 & L2 - high speed rotation (yaw bot maneuver)

    Isolated-bot control:
    default - normal speed rotation (yaw bot maneuver)
    a. Hold L2 - high speed rotation (yaw bot maneuver)

  3. Start Button:

    All bot-control modes:
    default – reset robot to spawn position

    Mirror-bot control:
    Hold L2 & R2 - calibrate robot's origin frame offset

  4. Up Button: customizable request 1

  5. Right Button: customizable request 2

  6. Down Button: customizable request 3

  7. Left Button: customizable request 4

  8. Cross Button: toggle "X-ray vision" mode

  9. Triangle Button: toggle "IronMan" mode

    default - toggle gravity
    a. R1 - up booster
    b. L1 - down booster

  10. Square Button: toggle "Phasing" mode

Keyboard Op

Although you can control the virtual-camera using your keyboard, it's recommended that you use a PS3 controller for a more immersive experience. Also see issue #2.

To start the controller:

$ rosrun oculus_gazebo_navigator oculus_keyboard_controller

Instructions:

'w' forward, 's' back, 'a' left, 'd' right
'z' rotate leftwards, 'c' rotate rightwards
To run, hold 'shift' first and then press the corresponding buttons
'Q' to quit (i.e. Shift + 'q')