Contents
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
Make sure your desktop computer and the PR2 are time-synchronized (e.g. using ntpdate)
- 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
Joystick button
The button assignment is similar to one used for the PS3 joystick in pr2_teleop.
Left Paddle
Button |
Control Action |
LB |
The "deadman" control allows the joystick to send commands to the robot; the robot will only respond to the joystick when this button is held down |
LT |
The "head" button allows the sticks to control the head instead of the base |
Joystick |
Rotate (yaw) the base |
1 |
Open left gripper |
3 |
Close left gripper |
Center Button |
"deadman" switch for controlling the left arm. While pressed, the left PR2 gripper will mimic the movements of the paddle. |
Right Paddle
Button |
Control Action |
R1 |
The "run" button commands the base to drive faster and enables the texture projector. |
1 |
Open right gripper |
3 |
Close right gripper |
4 |
Move the torso up |
2 |
Move the torso down |
Joystick |
Move (translate) the base |
Center Button |
"deadman" switch for controlling the right arm. While pressed, the right PR2 gripper will mimic the movements of the paddle. |
Parameters
desktop.launch
start_hydra: If true (default), will launch the Razer Hydra node.
razer_pos: Position of the Razer Hydra frame relative to torso_lift_link (default: "1.2 0 -0.3"). Adjust this e.g. if the virtual arms appear to high/low for your setup and body size.
desktop.launch / robot.launch
audio: If true, will launch nodes to transmit sound from and to the PR2 (default: false).