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pr2_surrogate package from pr2_surrogate repopr2_surrogate |
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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 |
| 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, thenroslaunch 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
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
System Dependencies
| Name |
|---|
| boost |
Dependant Packages
No known dependants.
Launch files
- 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/c_jt.launch
-
- use_right_arm [default: true]
- use_left_arm [default: true]
- sim [default: false]
- launch/cart_controllers.launch
- launch/head_pointer.launch
-
- tracked_frame [default: oculus]
- deadman_button [default: 10]
- 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/arm_mover.launch
-
- command_topic
- tracked_frame
- deadman_button
- launch/robot.launch
-
- audio [default: false]
- deadman_button [default: 0]
- deadman_button [default: 3]
- launch/terminator_eye.launch
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged pr2_surrogate at Robotics Stack Exchange
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