This repository contains software which may be used to teloperate the PR2 robot by Willow Garage, using the PS3 controller and various immersive perspectives.
One perspective utilizes the Oculus rift to map the persons head movements to the PR2 and displays the stereo cameras to their view.
The second utilizes an RViz perspective where the user controls head movement by pointing and clicking the image on a screen.
The third we used was simply driving the PR2 as an RC car and reuqires no special tools for perspective.
The pr2_apps portion of the code, used to operate the PR2 with the PS3 controller, was based on code found here.
https://github.com/bosch-ros-pkg
The surrogate code, which runs the oculus was based on code from.
https://github.com/ros-interactive-manipulation
Here are some basic launch directions.
################################## ####### Navigation Task ########## ##################################
roslaunch oculus_teleop robot_drive_oculus.launch
roslaunch oculus_teleop desktop_Oculus.launch
roslaunch oculus_teleop robot_drive_rviz.launch
roslaunch oculus_teleop desktop_Rviz.launch
##################################
##################################
roslaunch oculus_teleop robot_manipulate_oculus.launch
roslaunch oculus_teleop robot_manipulate_rviz.launch
roslaunch oculus_teleop desktop_Oculus.launch
roslaunch oculus_teleop desktop_Rviz.launch