oculus_ros

ROS package providing nodes to stream a video of a camera to the Oculus Rift and to publish the Oculus Rift sensor values over ROS.

The Oculus SDK 0.3.2 version from jherico which can be found at https://github.com/jherico/OculusSDK/tree/0.3.x was used and adapted for this ROS package. For the Oculus SDK license see the LICENSE_OCULUS.TXT file.

Additionally, for the ros_driver node code from the ROS node from Takashi Ogura was used. This can be found here: https://github.com/OTL/oculus. The lincense for this package can be seen in LICENSE.TXT file.

Finally, the distortion correction was done with help from the work from Scott A. Kuhl, which is available at http://www.cs.mtu.edu/~kuhl/pincushion-distortion-correction.html.

Nodes

ros_driver

Node connects to the Oculus Rift and publishes information and sensor values. The topics for that are:

• for information about the Oculus Rift: /oculus/hmd_info
• for sensor values when available: /oculus/orientation

Additionally tf data is also published when a sensor is available.

To change the frequency the data is published ROS parameters are used. There is a example launch-file available to see how that works.

ros_viewer

Node subscribes to camera topic and renders the video for the Oculus Rift. If the topic /oculus/hmd_info is available it is directly viewed on the Oculus, otherwise it is rendered to the normal screen.

To change the camera topic ROS parameters are used. There is a example launch-file available to see how that works.

When the node is running, the distortion can be changed with the arrow-keys left and right, it can be zoomed in and out with the arror-keys up and down and finally the j and k key is mapped to change the distance between both images.

Setup and Dependencies

• For the Oculus Rift it is necessary to run the shell script OculuConfigurationUtility.sh which can be found in the folder Platform/Linux.
• Following libraries are necessary:
  • OpenGL 3.0
  • glm
  • SDL 2.0
  • OpenCV