pr2_surrogate package from pr2_surrogate repo

pr2_surrogate

Package Summary

Tags No category tags.
Version 0.0.6
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/PR2/pr2_surrogate.git
VCS Type git
VCS Version hydro-devel
Last Updated 2015-02-11
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released RELEASED
Package Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

The pr2_surrogate package allows you to make a PR2 into a surrogate for your physical body using the Oculus RIFT HMD and Razer Hydra controller.

Additional Links

Maintainers

  • Devon Ash

Authors

  • David Gossow

PR2 Surrogate

This package enables fully immersive control of a PR2 robot using the Oculus Rift and Razer Hydra.

What it does: - Render the Kinect point cloud and robot model to the Oculus Rift - Use the Oculus head tracking to control the PR2 head - Connect the Hydra to the PR2 joystick teleop (base motion, torso lift & gripper control) - Track the Hydra motion with the PR2 grippers

How to run: - Connect your Hydra and Oculus Rift - On the robot: robot start, then roslaunch pr2_surrogate robot.launch - On the desktop: roslaunch pr2_surrogate desktop.launch

CHANGELOG

Changelog for package pr2_surrogate

0.0.6 (2015-02-11)

0.0.5 (2014-09-18)

  • Changed maintainer; updated websites
  • Contributors: TheDash

0.0.4 (2014-09-07)

  • Replaced dependency on rviz plugins
  • Contributors: TheDash

0.0.3 (2014-09-07)

  • added audio param etc. to desktop/robot.launch
  • updated README
  • check return code of dynparam call, removed signed/unsigned warning
  • Contributors: David Gossow

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Launch files

  • launch/c_jt.launch
      • use_right_arm [default: true]
      • use_left_arm [default: true]
      • sim [default: false]
  • launch/head_pointer.launch
      • tracked_frame [default: oculus]
      • deadman_button [default: 10]
  • launch/terminator_eye.launch
  • launch/arm_mover.launch
      • command_topic
      • tracked_frame
      • deadman_button
  • launch/openni_head.launch
    • Entry point for using OpenNI devices
      • camera [default: kinect_head]
      • rgb_frame_id [default: /head_mount_kinect_rgb_optical_frame]
      • depth_frame_id [default: /head_mount_kinect_ir_optical_frame]
      • device_id [default: #1]
      • rgb_camera_info_url [default: ]
      • depth_camera_info_url [default: ]
      • depth_registration [default: true]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • depth_registered [default: depth_registered]
      • projector [default: projector]
      • load_driver [default: true]
      • publish_tf [default: true]
      • bond [default: false]
      • respawn [default: $(arg bond)]
      • debug [default: false]
  • launch/desktop.launch
      • start_hydra [default: true]
      • audio [default: false]
  • launch/device.launch
    • Launch the OpenNI device driver
      • manager
      • device_id
      • rgb_frame_id
      • depth_frame_id
      • rgb_camera_info_url
      • depth_camera_info_url
      • depth_registration
      • respawn [default: false]
      • rgb [default: rgb]
      • ir [default: ir]
      • depth [default: depth]
      • depth_registered [default: depth_registered]
      • projector [default: projector]
  • launch/robot.launch
      • audio [default: false]
      • deadman_button [default: 0]
      • deadman_button [default: 3]
  • launch/cart_controllers.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

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