Usage

In RViz, add an OculusDisplay. This will create an additional window with a stereo rendering of the contents of the main RViz rendering area. Check "Render to Oculus" to render in full screen mode on your Oculus headset. Like with any Oculus application, it must be set up as secondary screen for this to work.

By default, the Oculus view will be rendered from the same position as the main RViz camera while following your head's orientation. Alternatively, you can attach the camera to a tf frame.

The position of the virtual camera view is also published as the '/oculus' tf frame.

This is how the Display should look like in windowed mode: