From fb0bad72bb32cceeb30a3666aab05613fc973410 Mon Sep 17 00:00:00 2001
From: Luis <luis@mov.ai>
Date: Tue, 16 Apr 2019 12:48:04 +0100
Subject: [PATCH] Updated to use with last vr update [16.4.2019]. No image

---
 CMakeLists.txt          |  4 ++--
 launch/check_vr.launch  |  2 +-
 launch/server_vr.launch | 10 +++-------
 launch/vive.launch      | 17 +++++------------
 src/vive_node.cpp       |  2 +-
 src/vr_interface.cpp    |  2 +-
 6 files changed, 13 insertions(+), 24 deletions(-)

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 6a87dec..61e7942 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -3,7 +3,7 @@ project(vive_ros)
 
 ## set definition, path, compileflags
 add_definitions(-DLINUX -DLINUX64 -DPOSIX)
-set(OPENVR "$ENV{HOME}/openvr")
+set(OPENVR "$ENV{HOME}/libraries/openvr")
 add_definitions(-DOPENVR_PATH="${OPENVR}") ## for source code to get sample textures and shader files path
 set(THIRDPARTY_DIR ${OPENVR}/samples/thirdparty)
 set(SHARED_SRC_DIR ${OPENVR}/samples/shared)
@@ -108,4 +108,4 @@ target_link_libraries(vive_node
   ${OPENVR_LIBRARIES}
   ${CMAKE_DL_LIBS}
   ${EXTRA_LIBS}
-)
\ No newline at end of file
+)
diff --git a/launch/check_vr.launch b/launch/check_vr.launch
index 07739b3..6cd3b25 100644
--- a/launch/check_vr.launch
+++ b/launch/check_vr.launch
@@ -2,7 +2,7 @@
 <launch>
   <env name="OPENVR" value="$(env HOME)/libraries/openvr"/>
   <env name="STEAM" value="$(env HOME)/.local/share/Steam"/>
-  <env name="STEAMVR" value="$(env HOME)/.local/share/Steam/steamapps/common/SteamVR"/>
+  <env name="STEAMVR" value="$(env HOME)/.steam/steam/steamapps/common/SteamVR"/>
   <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env HOME)/libraries/openvr/lib/linux32:$(env HOME)/libraries/openvr/lib/linux64/:\$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/i386/lib/i386-linux-gnu:$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux32:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux64:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux32:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64:"/>
 
   <node name="check_vr" pkg="vive_ros" type="check_vr.sh" output="screen" required="true"/>
diff --git a/launch/server_vr.launch b/launch/server_vr.launch
index e8be5d3..adcc076 100644
--- a/launch/server_vr.launch
+++ b/launch/server_vr.launch
@@ -2,13 +2,9 @@
 <launch>
   <env name="OPENVR" value="$(env HOME)/libraries/openvr"/>
   <env name="STEAM" value="$(env HOME)/.local/share/Steam"/>
-  <env name="STEAMVR" value="$(env HOME)/.local/share/Steam/steamapps/common/SteamVR"/>
-<!-- Everything! -->
-<!-- 
-  <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/i386/lib/i386-linux-gnu:$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux32:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux64:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux32:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64:"/>
--->
-  <!-- For a 64bit system -->
-  <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux64:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64"/>
+  <env name="STEAMVR" value="$(env HOME)/.steam/steam/steamapps/common/SteamVR"/>
+
+  <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu:$(env HOME)/.steam/steam/steamapps/common/SteamVR/bin/linux64:$(env HOME)/.steam/steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64"/>
 
   <node name="server_vr" pkg="vive_ros" type="launch_servervr.sh" output="screen" required="true"/>
 </launch>
diff --git a/launch/vive.launch b/launch/vive.launch
index df09011..83a36f2 100644
--- a/launch/vive.launch
+++ b/launch/vive.launch
@@ -1,19 +1,12 @@
 <?xml version="1.0"?>
 <launch>
-  <arg name="OPENVR"  value="$(env HOME)/openvr"/>
-  <arg name="OPENVR_LIB_PATH" value="$(arg OPENVR)/lib/linux32/:$(arg OPENVR)/lib/linux64/"/>
+  <env name="OPENVR" value="$(env HOME)/libraries/openvr"/>
+  <env name="STEAM" value="$(env HOME)/.local/share/Steam"/>
+  <env name="STEAMVR" value="$(env HOME)/.steam/steam/steamapps/common/SteamVR"/>
 
-  <arg name="STEAM"  value="$(env HOME)/.steam/ubuntu12_32/steam-runtime"/>
-  <arg name="STEAMVR_LIB_PATH" value="$(arg STEAM)/amd64/lib/x86_64-linux-gnu:$(arg STEAM)/amd64/lib:$(arg STEAM)/amd64/usr/lib/x86_64-linux-gnu:$(arg STEAM)/amd64/usr/lib:$(arg STEAM)/i386/lib/i386-linux-gnu:$(arg STEAM)/i386/lib:$(arg STEAM)/i386/usr/lib/i386-linux-gnu:$(arg STEAM)/i386/usr/lib:"/>
+  <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env HOME)/libraries/openvr/lib/linux64:$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu:$(env HOME)/.steam/steam/steamapps/common/SteamVR/bin/linux64:$(env HOME)/.steam/steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64"/>
 
-  <!-- for backward compatibility -->
-  <arg name="STEAM_OLD"   value="$(env HOME)/.local/share/Steam"/>
-  <arg name="STEAMVR_OLD" value="$(arg STEAM_OLD)/steamapps/common/SteamVR"/>
-  <arg name="STEAMVR_LIB_PATH_OLD" value="$(arg STEAM_OLD)/ubuntu12_32/steam-runtime/i386/usr/lib/i386-linux-gnu/:$(arg STEAM_OLD)/ubuntu12_32/steam-runtime/amd64/usr/lib/x86_64-linux-gnu/:$(arg STEAM_OLD)/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu/:$(arg STEAM_OLD)/ubuntu12_32/steam-runtime/i386/lib/i386-linux-gnu/:$(arg STEAMVR_OLD)/bin/linux32/:$(arg STEAMVR_OLD)/bin/linux64/:$(arg STEAMVR_OLD)/drivers/lighthouse/bin/linux32/:$(arg STEAMVR_OLD)/drivers/lighthouse/bin/linux64/"/>
-
-  <env name="LD_LIBRARY_PATH" value="$(arg OPENVR_LIB_PATH):$(arg STEAMVR_LIB_PATH):$(arg STEAMVR_LIB_PATH_OLD):$(env LD_LIBRARY_PATH)"/>
-
-  <rosparam param="/vive/world_offset">[0, 0, 2]</rosparam>
+  <rosparam param="/vive/world_offset">[0, 0, 2.265]</rosparam>
   <rosparam param="/vive/world_yaw">0.0</rosparam>
 
   <node name="vive_node" pkg="vive_ros" type="vive_node" output="screen" required="true"/>
diff --git a/src/vive_node.cpp b/src/vive_node.cpp
index b392bfb..e70b588 100644
--- a/src/vive_node.cpp
+++ b/src/vive_node.cpp
@@ -11,7 +11,7 @@ void handleDebugMessages(const std::string &msg) {ROS_DEBUG(" [VIVE] %s",msg.c_s
 void handleInfoMessages(const std::string &msg) {ROS_INFO(" [VIVE] %s",msg.c_str());}
 void handleErrorMessages(const std::string &msg) {ROS_ERROR(" [VIVE] %s",msg.c_str());}
 
-#define USE_IMAGE
+//#define USE_IMAGE
 
 #define USE_OPENGL
 //#define USE_VULKAN
diff --git a/src/vr_interface.cpp b/src/vr_interface.cpp
index c514f02..a46b3cb 100644
--- a/src/vr_interface.cpp
+++ b/src/vr_interface.cpp
@@ -54,7 +54,7 @@ bool VRInterface::Init()
   // Loading the SteamVR Runtime
   vr::EVRInitError eError = vr::VRInitError_None;
   
-  pHMD_ = vr::VR_Init( &eError, vr::VRApplication_Scene );
+  pHMD_ = vr::VR_Init( &eError, vr::VRApplication_Background );
 
   if (eError != vr::VRInitError_None)
   {