ROS node for Oculus Rift

This is ROS driver for Oculus Rift. see http://developer.oculusvr.com for Oculus Rift SDK.

Install

Please copy OculusSDK/LibOVR to oculus_driver/ directory and build it in Debug mode. (If you are using OSX, please enable rtti and exceptions.) If you want to use Release mode, please edit CMakeLists.txt of oculus_driver/.

Supported OS

This package supports OSX (10.7.5 and MacPorts) and Linux (Ubuntu12.04).

Packages

• oculus_driver: oculus rift HMD ROS driver.
• oculus_msgs: oculus HMD message definitions.
• oculus_viewer: viewer for stereo cameras.

Nodes

oculus_node (in oculus_driver package)

publishes sensor data and HMD information of Oculus Rift.

publish

• /oculus/orientation (geometry_msgs/Quaternion) orientation of sensor.
• /oculus/hmd_info (oculus_ros/HMDInfo) HMD device info.
• /tf

param

• ~frequency (double: default 10.0) [Hz] rate of publish
• ~parent_frame (string: default parent) tf frame name of parent
• ~oculus_frame (string: default oculus) tf frame name of oculus

image_distort_viewer (in oculus_viewer package)

Distort images by /oculus/hmd_info params and display it. You have to adjust some params for your stereo camera manually. A sample launch file is in oculus_viewer/launch/oculus_sample.launch.

Subscribe

• /camera/left/image_raw (sensor_msgs/Image)
• /camera/right/image_raw (sensor_msgs/Image)
• /oculus/hmd_info (oculus_ros/HMDInfo) HMD device info.

Publish

• /camera/left/image_raw/distorted (sensor_msgs/Image) left distorted image
• /camera/right/image_raw/distorted (sensor_msgs/Image) right distorted image

param

• ~image_transport (string: default "raw") this node uses image_transport for subscribe. If you are transporting remote images, you should use "compressed".
• ~use_display (bool: default true) true: show distored and combined image in GUI. false: publish distored image only.

License

BSD