ViveTracker

Usage

Install ROS

echo "deb http://packages.ros.org/ros/ubuntu focal main" | sudo tee /etc/apt/sources.list.d/ros-focal.list
sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
curl -sSL 'http://keyserver.ubuntu.com/pks/lookup?op=get&search=0xC1CF6E31E6BADE8868B172B4F42ED6FBAB17C654' | sudo apt-key add -
sudo apt update
sudo apt install ros-noetic-ros-core
sudo apt-get install ros-noetic-catkin
source /opt/ros/noetic/setup.bash
echo "source /opt/ros/noetic/setup.bash" >> ~/.bashrc
roscd
sudo apt-get install python3-rosdep python3-catkin-tools python3-osrf-pycommon ros-tf2-msgs ros-noetic-turtle-tf2 ros-noetic-tf ros-noetic-tf2-tools
sudo rosdep init
rosdep update
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make

Clone the repositories

git clone --recurse-submodules https://github.com/KevinJordil/ViveTracker.git ~/ViveTracker
cd ~/ViveTracker

Compile libsurvive

cd ~/ViveTracker/libsurvive
sudo cp ./useful_files/81-vive.rules /etc/udev/rules.d/
sudo udevadm control --reload-rules && udevadm trigger
sudo apt-get install build-essential zlib1g-dev libx11-dev libusb-1.0-0-dev freeglut3-dev liblapacke-dev libopenblas-dev libatlas-base-dev cmake
make

Reboot

Compiling ROS package

Once Ubuntu has started and the dongle is connected, you need to assign the rights to the USB port and set the ROS environment variables. Do the calibration

cd ~/ViveTracker
source vive_tracker_ros/source_this.sh
libsurvive/bin/survive-cli --center-on-lh0 --force-calibrate

Build vive_tracker_ros

cd ~/ViveTracker
./vive_tracker_ros/run_to_build.sh

Running the package

Publishes position and orientations with TF, after calibration

roslaunch vive_tracker_ros_package vive_tracker_ros.launch

If ROS does not find the package, source the source_this.sh file again, or you could add it to .bashrc to do this automatically and not have to do this every time:

echo "source ~/ViveTracker/vive_tracker_ros/source_this.sh" >> ~/.bashrc