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ROS package for publishing HTV VIVE device locations.
Branch: master
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Video example:

Installation instructions

Download and build Valve's OpenVR SDK (most recently tested version):

  cd ~
  mkdir libraries
  cd libraries
  git clone -b v1.3.22
  cd openvr
  mkdir build
  cd build
  cmake -DCMAKE_BUILD_TYPE=Release ../

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

Download latest steam version at You should get the file steam_latest.deb in your ~/Downloads folder

Install Steam:

  sudo dpkg --install ~/Downloads/steam_latest.deb

Note: If it gives a dependency error run sudo apt install --f and re-run the install steam command (sometimes you may need to repeat this proccess multiple times)

Run Steam:


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


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


  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
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