vive_ros2 (development in progress)

Installation instructions

1. Install Steam and SteamVR

1. Install the latest version of Steam from Steam Store.
2. Install SteamVR in the Steam application.

2. Downlaad and Build OpenVR SDK

cd <PATH to ROS2 workspace>
mkdir libraries && cd libraries
git clone https://github.com/ValveSoftware/openvr.git -b v2.5.1
cd openvr
mkdir build && cd build
cmake -DCMAKE_BUILD_TYPE=Release ../
make

3. VR Setup

1. Follow the official VIVE Pro Setup Guide to setup the lighthouse, headset, controller, etc.
2. Plug in the VIVE and set the permission as below:

   sudo chmod +rw /dev/hidraw*

3. You are ready to use the VIVE.
4. (OPTIONAL) Build the sample code to test the VIVE setup.

   cd <PATH to ROS2 workspace>/libraries/openvr/samples
   mkdir build && cd build
   cmake .. -G "Unix Makefiles" -DCMAKE_PREFIX_PATH=/opt/Qt/5.6/gcc_64/lib/cmake -DCMAKE_BUILD_TYPE=Release

   Run the demo code as follows:

   # copy the texture files to the bin folder
   cd <PATH to ROS2 workspace>
   cp libraries/openvr/samples/bin/cube_texture.png libraries/openvr/samples/bin/hellovr_* build

   # Run demo code
   ~/.steam/steam/ubuntu12_32/steam-runtime/run.sh <PATH to ROS2 workspace>/libraries/openvr/samples/bin/linux64/hellovr_opengl

Usage

1. Build the package.

   cd <PATH to ROS2 workspace>
   colcon build --packages-select vive_ros2
   source install/setup.bash

2. Start SteamVR.

   source <PATH to ROS2 workspace>/src/vive_ros2/scripts/set_vr_env.sh
   $STEAMVR/bin/linux64/vrserver --keepalive

3. Run the package.

   ros2 run vive_ros2 vive_input
   # Development in Progress...

Development Environment

• Ubuntu 22.04
• ROS2 Humble
• OpenVR SDK v2.5.1