Quest2ROS

Ideal to set up a teleoperation for robots running ROS.

Project website: https://mcwelle.com/q2r/

The relative frame for each controller can be set by pressing both buttons on the controller respectively. For the best intuitive performance line the controller up with the robotic frame and press both buttons (A+B for the right controller, X+Y for the left controller)

Publishers:

ovr2ros_left_hand_pose

ovr2ros_left_hand_twist

ovr2ros_left_hand_inputs

ovr2ros_right_hand_pose

ovr2ros_right_hand_twist

ovr2ros_right_hand_inputs

The pose is of ROS message type PoseStamped(https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/PoseStamped.html), the velocity is a Twist message type (https://docs.ros.org/en/noetic/api/geometry_msgs/html/msg/Twist.html), and the inputs are via a custom message:

bool button_upper

bool button_lower

float32 thumb_stick_horizontal

float32 thumb_stick_vertical

float32 press_index

float32 press_middle

A haptic feedback can be provided by sending a custom ROS message to the controllers controlling the frequency and amplitude of the controller vibration:

float32 frequency

float32 amplitude

Subscribers:

ovr2ros_left_hand_haptic_feedback

ovr2ros_right_hand_haptic_feedback