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Quest2ROS

Ros code to connect the occulus quest to ROS and recive the controler Position/velocitys and send haptic feedback to the controllers.

setup

  1. Install Quest2ROS on your occulus VR headset https://quest2ros.github.io/q2r-web/

  2. Clone ROS TCP enpoint into your catkin workspace src

git clone https://github.com/Unity-Technologies/ROS-TCP-Endpoint.git

  1. Clone quest2ros ROS package in your catkin workspace src

git clone https://github.com/Quest2ROS/quest2ros.git

  1. Build your catkin workspace

catkin build

  1. Make sure ROS PC and Occulus Headset are on the same (WIFI) network

  2. Start ROS TCP endpoint (replace <YOUR_IP>)

roslaunch ros_tcp_endpoint endpoint.launch tcp_ip:=<YOUR_IP> tcp_port:=10000

  1. Set <YOUR_IP> and the same port in the VR and press apply

  2. You should see [INFO] in the terminal that the connection is established

  3. Run ros2quest demo

rosrun quest2ros ros2quest.py

  1. You can now move the dice and Q2R logo in the VR by pressing the lower controller button of left and right controller respectivly

Cordinate frame allignment

By pressing A + B on the right and X+Y on the left the relative cordinatframe gets alligned to the current controller position. To use this for robot teleop allign the controller with the base frame of the robot and press the buttons.

Bibtex

@inproceedings{@software{q2r2023,
  title={Quest2ROS: An App to Facilitate Teleoperating Robots},
  author={Welle, Michael C and Ingelhag, Nils and Lippi, Martina and Wozniak, Maciej K. and Gasparri, Andrea and Kragic, Danica},
  url = {https://quest2ros.github.io/q2r-web/},
  version = {1.0},
  date={2023-12-01}
}