Virtual pan-tilt-roll ROS-node

This program was used for a telepresence robot with a stereoscopic mechanical pan-tilt-roll camera system to reduce latency in movement.

For the HMD and the head-tracking-system a Oculus Rift Dev Kit 1 was used.

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Additional credit goes to:

• Hendrik Wiese (https://github.com/SeveQ)
• Takashi Ogura (https://github.com/OTL/oculus)

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Licence:

BSD, see license file

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Instructions:

• You need ROS and OpenCV
• Add the content of the src folder to your catkin workspace src folder and compile.
• See msg types for the msg specifications.

To get the full repo with submodules:

git clone https://github.com/cubei/OculusCamViewer.git
cd OculusCamViewer
git submodule init
git submodule update

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Images:

Problems with Aria.h and ROSARIA

sudo apt-get install libudev-dev
cd ws
source devel/setup.bash
rosdep update
rosdep install rosaria
catkin_make

(If error remains, use "catkin_make clean" and delete build and devel folder)

Problems with graphics drivers on opencv compile

OpenCV without gpu => CMAKE ARG:

-D BUILD_opencv_gpu=OFF

Laserscanner:

sudo apt-get install ros-hydro-urg-node

Controller:

sudo apt-get install ros-hydro-joy