richardrl / vive_ros2

Code for uising the HTC vive tracking system with ROS2

vive_ros2

Code for using the HTC vive tracking system with ROS2. Currently, this package only supports the HTC Vive tracker although tracking other devices like the tracking references (base stations), controllers, and headset should not require much code modification. Contributions are welcome.

This package allows for maximum flexibility in terms of where the HTC drivers are run since the package uses an independent server client architecture using python socket library. For example, server can be run on a more powerful Windows machine for best driver support while the client can be run on the robot or target device. The server and client can also be run on the same device if desired.

Getting Started

Running the Python Server

The best way to get started is to install conda and run conda env create -f env.yaml which will create a conda environment with the correct python version and libraries. You can then activate the environment with conda activate pythonvr. Start the server by running vive_tracker_server.py in the vive_server folder. Make sure to have SteamVR installed and running with the headset plugged in.

Once you start the server you should see something like the following printed to the screen indicating which VR devices are detected and what the ip address and port (IP:PORT) of the server is. This information will come in handy when setting up the client.

13:49:17|ViveTrackerServer|INFO|Starting server at 192.168.50.171:8000
13:49:17|ViveTrackerServer|INFO|Connected VR devices: 
###########
Found 4 Tracking References
  tracking_reference_1 (LHB-59F8D726, Mode Valve SR Imp, Valve SR Imp)
  tracking_reference_2 (LHB-AA3BEC72, Mode Valve SR Imp, Valve SR Imp)
  tracking_reference_3 (LHB-FFCE0AD4, Mode Valve SR Imp, Valve SR Imp)
  tracking_reference_4 (LHB-91047ECC, Mode Valve SR Imp, Valve SR Imp)
Found 1 HMD
  hmd_1 (LHR-8280F84D, VIVE_Pro MV)
Found 1 Controller
  controller_1 (LHR-4F3DC6EA, VIVE Controller Pro MV)
Found 1 Tracker
  tracker_1 (LHR-55804C5D, VIVE Tracker Pro MV)
###########

Running the ROS2 Client

In order to run the ROS2 node first run sudo python3 setup.py install to install the package with the object type for the messages transmitted by the server. You may also have to install some packages with pip such as pydantic if it is not already installed pip3 install pydantic.

You can then run the node by running ros2 run vive_ros2 vive_tracker_node.py --ros-args -p host_ip:=******** -p host_port:=****. You should then be able to run ros2 topic echo /tracker/odom to verify the node is working.