Mobile Robot with VR : Meta Mobility

Equipments

• Oculus Quest 2

• C920 Camera
• VLP-16 or YD-LiDAR ... any 3D or 2D LiDAR is ok...
• WIFI router
• Any Mobile Robot
• Ricoh Theta V

Description

1. Navigation Package is based on ROS move_base.

2. This repo supports teleoperation with Oculus Quest 2 (Manual Control Driving + VR).

3. Combined two camera scenes are connected to Oculus Quest 2.

VR Environments

• If you want to make an application of Oculus Quest 2 or any other VR devices. You have to develop it yourself by UNITY.
• We also make a manual how to make an VR application. It supports ROS communication with VR devices.
• There is a additional manul how to use 360 degree camera in UNITY, such as RICOH Theta V.

How to use

Build

cd ~/catkin_ws/src
git clone {this_repo}
cd ..
catkin_make

WIFI settings

• First of all, check your IP address as follows:

hostname -I

• Then modify your IP address parameter of rosbridge_websocket.launch file in rosbridge_server package.

Map settings

• Modify velodyne's frame_id from velodyne to base_scan.
• Modify navigation output topic message's name from cmd_vel to navigation_cmd_vel.

Launch file

roslaunch usb_cam usb_cam_double.launch
roslaunch turtlebot3_navigation turtlebot3_navigation.launch
roslaunch rosbridge_server rosbridge_websocket.launch
roslaunch {your robot launch file}

• In our repo, the robot launch file as follows:

roslaunch md md.launch