First commit.

88-vive.rules

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+KERNEL=="hidraw*", ATTRS{idVendor}=="0bb4", MODE="0666"
+KERNEL=="hidraw*", ATTRS{idVendor}=="28de", MODE="0666"
+KERNEL=="hidraw*", ATTRS{idVendor}=="0424", MODE="0666"

CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(vive_ros)
+
+## Find catkin macros and libraries
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  tf
+  std_srvs
+  geometry_msgs
+)
+
+set(CMAKE_BUILD_TYPE "Release")
+
+# TODO: make find script, to use find_package(openvr REQUIRED)
+set(OPENVR "$ENV{HOME}/libraries/openvr")
+find_library(OPENVR_LIB openvr_api "${OPENVR}/lib/linux64" NO_DEFAULT_PATH)
+message("Found libopenvr_api: ${OPENVR_LIB}")
+
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package()
+
+###########
+## Build ##
+###########
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11 ")
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# TODO: find openvr
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+  ${OPENVR}/headers
+)
+
+# VIVE node:
+add_executable(vive_node 
+  src/vive_node.cpp
+  src/vr_interface.cpp
+)
+target_link_libraries(vive_node ${catkin_LIBRARIES} ${OPENVR_LIB})
+

INSTALL.md

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+# Installation instructions
+
+Installation instructions based on: `https://www.gamingonlinux.com/articles/first-steps-with-openvr-and-the-vive-on-linux.7229`
+
+
+## Download and build Christoph's OpenVR SDK fork:
+
+      cd ~
+      mkdir libraries
+      cd libraries
+      git clone https://github.com/ChristophHaag/openvr.git
+      cd openvr
+      mkdir build
+      cd build
+      cmake -DCMAKE_BUILD_TYPE=Release ../
+      make
+
+## Allow hardware access
+Then plug-in VIVE to your computer and make sure you can see the devices on `/dev/hidraw[1-6]`.
+
+Copy the file `88-vive.rules` to the folder `/etc/udev/rules.d`. Then run:
+
+      sudo /etc/init.d/udev restart
+
+## Install Steam and SteamVR
+
+Go to `http://store.steampowered.com/` and download Steam for Linux.
+After successfully installing and running Steam, it should store its files on: `~/.local/share/Steam`
+
+Install SteamVR by using this URL `steam://install/250820`.
+Files should be located on: `~/.local/share/Steam/steamapps/common/SteamVR`
+
+## Configure display.
+
+Go to your OS display options to enable HMD's display.

LICENSE

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+Copyright (c) 2016, RoboSavvy
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+* Redistributions of source code must retain the above copyright notice, this
+  list of conditions and the following disclaimer.
+
+* Redistributions in binary form must reproduce the above copyright notice,
+  this list of conditions and the following disclaimer in the documentation
+  and/or other materials provided with the distribution.
+
+* Neither the name of rosserial_tivac_tutorials nor the names of its
+  contributors may be used to endorse or promote products derived from
+  this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+

README.md

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+Installation instructions can be found on `INSTALL.md`.
+
+# Usage
+
+Before start:
+
+* Make sure VIVE is present as several `/dev/hidraw*` and you have access permissions.
+* Make sure VIVE display is enabled as extended view.
+* Libraries and Steam are present on the folders described by `INSTALL.md`.
+
+Procedure:
+
+1. Start a `roscore`
+2. Launch the SteamVR's `vrserver` by launching the file: `roslaunch vive_ros server_vr.launch`
+3. Launch the node: `roslaunch vive_ros vive.launch`
+4. To close the node you can `Ctrl+C`. To close the vr server you have to kill the process. For convenience: `rosrun vive_ros close_servervr.sh`

include/vive_ros/vr_interface.h

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+#ifndef _VR_INTERFACE_H_
+#define _VR_INTERFACE_H_
+
+#include <openvr.h>
+#include <boost/function.hpp>
+
+typedef boost::function<void(const std::string&)> DebugMsgCallback;
+typedef boost::function<void(const std::string&)> InfoMsgCallback;
+typedef boost::function<void(const std::string&)> ErrorMsgCallback;
+
+
+class VRInterface
+{
+  public:
+    VRInterface();
+    ~VRInterface();
+
+    bool Init();
+    void Shutdown();
+
+    void Update();
+    void UpdateCalibration();
+
+    int GetDeviceMatrix(int index, double pMatrix[3][4]);
+    int GetDeviceVel(int index, double lin_vel[3], double ang_vel[3]);
+    bool IsDeviceConnected(int index);
+
+
+    void setErrorMsgCallback(ErrorMsgCallback fn);
+    void setInfoMsgCallback(InfoMsgCallback fn);
+    void setDebugMsgCallback(DebugMsgCallback fn);
+
+
+  private:
+    vr::IVRSystem *pHMD_;
+    vr::IVRChaperone *pChaperone_;
+
+    uint max_devices_;
+    vr::TrackedDevicePose_t device_poses_[vr::k_unMaxTrackedDeviceCount];
+
+  private:
+    DebugMsgCallback debug_;
+    InfoMsgCallback info_;
+    ErrorMsgCallback error_;
+
+    vr::ChaperoneCalibrationState cal_state_;
+    float play_area_[2];
+    vr::HmdQuad_t play_quat_;
+
+    std::string GetTrackedDeviceString(vr::IVRSystem *pHmd, vr::TrackedDeviceIndex_t unDevice, vr::TrackedDeviceProperty prop, vr::TrackedPropertyError *peError = NULL);
+};
+
+#endif  // _VR_INTERFACE_H_

launch/check_vr.launch

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+<?xml version="1.0"?>
+<launch>
+  <env name="OPENVR" value="$(env HOME)/libraries/openvr"/>
+  <env name="STEAM" value="$(env HOME)/.local/share/Steam"/>
+  <env name="STEAMVR" value="$(env HOME)/.local/share/Steam/steamapps/common/SteamVR"/>
+  <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env HOME)/libraries/openvr/lib/linux32:$(env HOME)/libraries/openvr/lib/linux64/:\$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/i386/lib/i386-linux-gnu:$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux32:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux64:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux32:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64:"/>
+
+  <node name="check_vr" pkg="vive_ros" type="check_vr.sh" output="screen" required="true"/>
+</launch>

launch/server_vr.launch

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+<?xml version="1.0"?>
+<launch>
+  <env name="OPENVR" value="$(env HOME)/libraries/openvr"/>
+  <env name="STEAM" value="$(env HOME)/.local/share/Steam"/>
+  <env name="STEAMVR" value="$(env HOME)/.local/share/Steam/steamapps/common/SteamVR"/>
+<!-- Everything! -->
+<!-- 
+  <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/i386/lib/i386-linux-gnu:$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux32:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux64:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux32:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64:"/>
+-->
+  <!-- For a 64bit system -->
+  <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux64:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64"/>
+
+  <node name="server_vr" pkg="vive_ros" type="launch_servervr.sh" output="screen" required="true"/>
+</launch>

launch/vive.launch

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+<?xml version="1.0"?>
+<launch>
+  <env name="OPENVR" value="$(env HOME)/libraries/openvr"/>
+  <env name="STEAM" value="$(env HOME)/.local/share/Steam"/>
+  <env name="STEAMVR" value="$(env HOME)/.local/share/Steam/steamapps/common/SteamVR"/>
+  <!-- Everything! -->
+<!--
+  <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env HOME)/libraries/openvr/lib/linux32:$(env HOME)/libraries/openvr/lib/linux64/:\$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/i386/lib/i386-linux-gnu:$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux32:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux64:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux32:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64:"/>
+-->
+  <!-- For a 64bit system -->
+  <env name="LD_LIBRARY_PATH" value="$(env LD_LIBRARY_PATH):$(env HOME)/libraries/openvr/lib/linux64:$(env HOME)/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/bin/linux64:$(env HOME)/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64"/>
+
+  <rosparam param="/vive/world_offset">[0, 0, 2]</rosparam>
+  <rosparam param="/vive/world_yaw">0.0</rosparam>
+
+  <node name="vive_node" pkg="vive_ros" type="vive_node" output="screen" required="true"/>
+</launch>

package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>vive_ros</name>
+  <version>0.0.1</version>
+  <description>The vive_ros package</description>
+  <author>Vitor Matos</author>
+  <author email="[email protected]">Vitor Matos</author>
+
+  <license>BSD</license>
+  <url type="website">http://wiki.ros.org/vive_ros</url>
+  <url type="repository">https://github.com/robosavvy/vive_ros</url>
+  <maintainer email="[email protected]">Vitor Matos</maintainer>
+
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <build_depend>roscpp</build_depend>  
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>std_srvs</build_depend>
+  <build_depend>tf</build_depend>
+
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>std_srvs</run_depend>
+
+</package>

scripts/check_vr.sh

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+#!/usr/bin/env bash
+
+${STEAMVR}/bin/linux64/vrcmd

scripts/close_servervr.sh

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+#!/usr/bin/env bash
+
+killall -9 vrserver

scripts/launch_servervr.sh

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+#!/usr/bin/env bash
+
+${STEAMVR}/bin/linux64/vrserver --keepalive