def start(self):
self.vr_process.start()
self.reset_lighthouse_db()
rate = rospy.Rate(10) # 10hz
steamvr_launch_ok = False
while not steamvr_launch_ok:
try:
self.poser = pose_openvr_wrapper.OpenvrWrapper(
'../cfg/config.json')
steamvr_launch_ok = True
except rospy.ROSInterruptException:
#print('steamVR_not_running')
pass
rate.sleep()
self.up_and_running = True
rospy.loginfo('poser up and running')
def start(self, frequency=100):
#self.tmr = self.create_timer(1.0/frequency, self.timer_callback)
self.reset_lighthouse_db()
#rate = self.create_rate(10) # 10hz
steamvr_launch_ok = False
while not steamvr_launch_ok:
print('noooooooooo')
try:
self.poser = pose_openvr_wrapper.OpenvrWrapper(
'./config.json')
steamvr_launch_ok = True
except RuntimeError:
#print('steamVR_not_running')
pass
#time.sleep(0.5) #rate.sleep()
self.up_and_running = True
self.get_logger().info('poser up and running')
#!/usr/bin/env python
import rospy
import tf
import pose_openvr_wrapper
from pose_transform import Transform
import pprint as pp
if __name__ == '__main__':
try:
rospy.init_node('publisher_tf_node')
pyopenvr_wrapper = pose_openvr_wrapper.OpenvrWrapper(
'../cfg/config.json')
pp.pprint(pyopenvr_wrapper.devices)
broadcaster = tf.TransformBroadcaster()
rate = rospy.Rate(250)
while not rospy.is_shutdown():
matrices = pyopenvr_wrapper.get_all_transformation_matrices(
samples_count=1)
for device, matrix in matrices.items():
transform = Transform(
pyopenvr_wrapper.get_all_transformation_matrices(
samples_count=1))
quaternion = transform.quaternion()
position = transform.position()
broadcaster.sendTransform(
position,
(quaternion.x, quaternion.y, quaternion.z, quaternion.w),
rospy.Time.now(), device, "local")
rate.sleep()