ViveTracker ROS 2 Package

Usage

Clone the repositories

git clone --recurse-submodules https://github.com/meco-group/ViveTrackerROS2.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
colcon build --packages-ignore libsurvive

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