andregilerson/rviz_vive

View RVIZ on the HTC Vive

rviz_vive's Issues

rviz segmentation fault

Hi,

Following the instructions on the readme I'm able to build the plugin, but whenever I try to add it to rviz the application crashes with a segmentation fault. Is there perhaps a step missing on the instructions?

Fix orientation in vive_display.cpp

Hello,

First of all thank you so much for making this plug in. I noticed that in this part of the code
if (_steamVrPose[vr::k_unTrackedDeviceIndex_Hmd].bPoseIsValid)
{
Ogre::Vector3 vivePos = _trackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].getTrans();
Ogre::Quaternion viveOri = _trackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].extractQuaternion();

_pCameraNode->setPosition(vivePos);
_pCameraNode->setOrientation(ori);
}

you use the vivePos for the pCameraNode but not the orientation. If you change the pCameranode Orientation to be the viveOri, that seems to track orientation as well.

Using this change Ogre::Quaternion viveOri = _trackedDevicePose[vr::k_unTrackedDeviceIndex_Hmd].extractQuaternion().Inverse();

getting the inverse of the quaternion, makes the vive sync up in Rviz.

The other issue I noticed is that rviz will not close after starting the plugin.

Thanks,

Akash Jinandra

coordinate offset

Hi Andre,

I was wondering if you had the same issue and were able to solve it.
I followed your description to install the plugin and it's working in general. There are just two little things.

First: I expected the HTC Vive display to show the exact same Rviz than the monitor of my Computer. But there is an offset between Rvitz of the monitor and the HTC. When the perspective of the monitor is straight ahead, the same picture in the HTC shows not straight ahead but to the right. It's like the coordinates are shifted by 90°.

Second: It's probably linked to my first issue. There is a weird cut in the picture of the HTC. The coordinate system stops and then it's just black. That's not happening in Rviz of the computer monitor.

Do you have any ideas what this issue is about? Did you have the same problem? Do you have any idea how to solve it? Do you know where to look in the code to correct the offset and to get this cut away?

Thanks a lot for your answer and all the effort you put into the plugin!

seg fault

Hi,

I have a HTC Vive Pro and I keep getting a seg fault error. Could I please have some guidance?

Thanks!