open_vr_ros

Forked from vive_ros and ported for use on Windows

This was tested and worked on Windows 10 with ROS Noetic a Varjo Aero VR Headset, and 2 Valve Index Base Stations

Because openvr is VR Headset independent, it'll work with any headset which has drivers for openvr. So this should work with the Varjo Aero headset just as well as with the Vive

Installation instructions

Follow this tutorial for installing ROS on windows and setting up an x64 Native Tools Command Prompt for Visual Studio

http://wiki.ros.org/noetic/Installation/Windows

NOTE: You MUST have an x64 Native Tools Command Prompt for Visual Studio ROS Terminal set up for this to work.

You do not need to use Windows Terminal if you don't want to

Install the Hardware, Steam and SteamVR

Follow this guide for HTC Vive: Vive-Setup-Guide
Follow this guide for Varjo Aero: Setting Up Aero

Prep

Set an environmental variable for %HOME% equal to your %USERPROFILE%:
windows env var tutorial

Download and build Valve's OpenVR SDK:

  cd ~
  mkdir libraries
  cd libraries
  git clone https://github.com/ValveSoftware/openvr.git
  cd openvr
  mkdir build
  cd build
  cmake -DCMAKE_BUILD_TYPE=Release ../
  make

if make doesn't work, just use cmake --build . --config Release

Post

Copy the win64 openvr_api.dll to C:\Windows\System32
run %HOME%/workspaces/devel/setup.bat to source the development environment so ROS can find the open_vr_ros package

Running:

1. Run Varjo Base
2. Turn on steamvr through Varjo Base GUI
3. Start a roscore
4. Launch the node: roslaunch open_vr_ros open_vr.launch
5. run rosrun rviz rviz to start rviz
6. change world frame to world_open_vr
7. add by topic

Troubleshooting

Some things you might have to do:
Install glew to windows32: https://glew.sourceforge.net/install.html
Install sdl2.dll to windows32: https://github.com/libsdl-org/SDL/releases/tag/release-2.26.3
choco upgrade chocolatey
choco source disable -n=chocolatey