robosavvy/vive_ros

ROS package for publishing HTV VIVE device locations.

vive_ros

Video example: https://youtu.be/1hiX0f6UAew

Installation instructions

Download and build Valve's OpenVR SDK (most recently tested version):

  cd ~
  mkdir libraries
  cd libraries
  git clone https://github.com/ValveSoftware/openvr.git -b v1.3.22
  cd openvr
  mkdir build
  cd build
  cmake -DCMAKE_BUILD_TYPE=Release ../
  make

Allow hardware access

Then plug-in VIVE to your computer and make sure you can see the devices on /dev/hidraw[1-6].

Copy the file 60-HTC-Vive-perms.rules to the folder /etc/udev/rules.d. Then run:

  sudo udevadm control --reload-rules && sudo udevadm trigger

Install Steam and SteamVR

Download latest steam version at https://store.steampowered.com/. You should get the file steam_latest.deb in your ~/Downloads folder

Install Steam:

  sudo dpkg --install ~/Downloads/steam_latest.deb

Note: If it gives a dependency error run sudo apt install --f and re-run the install steam command (sometimes you may need to repeat this proccess multiple times)

Run Steam:

  steam

Setup or log in into your Steam account and install SteamVR from the Steam store.

Steam files should be located in: ~/.steam/steam

SteamVR files should be located in: ~/.steam/steam/steamapps/common/SteamVR

Configure display.

Go to your OS display options to enable HMD's display.

Usage

Before start:

• Make sure VIVE is present as several /dev/hidraw* and you have access permissions.
• Make sure VIVE display is enabled as extended view.
• Libraries and Steam are present on the folders described by INSTALL.md.

Procedure:

1. Start a roscore
2. Launch the SteamVR's vrserver by launching the file: roslaunch vive_ros server_vr.launch
3. Launch the node: roslaunch vive_ros vive.launch
4. To close the node you can Ctrl+C. To close the vr server you have to kill the process. For convenience: rosrun vive_ros close_servervr.sh

Update

1. Hardware Safety code added in order to shutdown of hardware. This will prevent hardware from any damage caused due to abrupt shutdown.

2. It has code updated for publishing HTC Vive Component (HTC Vive Headset and 2 HTC Controllers) data.

vive_ros's Issues

Frequency

I'm noticing that Ros subscribes to the topic at 120 Hz. However the topic is full of only one transform at a time. Does this mean I can only really get information on a single sensor at 20 Hz?

Daniel

Publish position of controller not via /tf but rostopic

The tracking of the controller works great in ros and correctly visualizes in rviz.
But - I am currently using roslibpy in ironpython in Rhinoceros (3d modelling program) and I have some issues with receiving tf messages properly. (must be a program internal networking issue). Any other rostopic is no problem - Is there a possibility to send the current pose of each controller as a rostopic rather than a tf data tree?

I would be very thankful for any hint

HTC Vive double vision when streaming stereo camera images

Hi,

I am trying to use vive_ros to project the video coming from a ZEDM stereo camera into an HTC Vive HMD. I am able to stream the images but the objects far from me are doubled. Does anyone know how to fix this issue? Thanks

Installation problem while running "make"

Anyone could possibly explain me where "skipping incomapible... when searching for -lopenvr_api" & "cannot find -lopenvr_api" error is coming from for the "make" command? I am new to ubuntu, so I'm having some difficulties with this installation process.
I would be extremely grateful for any help.

current status of vive_ros

• get 3D position/rotation of HMD, controller, tracker https://github.com/robosavvy/vive_ros
• Visualize HDMI video stream to HMD monitor #12
• Obtain button signal of controllers #5
• Capture images on HMD camera None

Cc: @k-okada @ishiguroJSK

libdbus-1.so.3 & /libgpg-error.so.0: no version information available

I have installed OpenVR SDK v1.0.5 version from https://github.com/ValveSoftware/openvr for some other project. I am getting following error:
/home/baxter2/.local/share/Steam/steamapps/common/SteamVR/tools/bin/linux64/vrmonitor:
/home/baxter2/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu/libdbus-1.so.3: no version information available (required by /usr/lib/x86_64-linux-gnu/libpulse.so.0)
/home/baxter2/.local/share/Steam/steamapps/common/SteamVR/tools/bin/linux64/vrmonitor: /home/baxter2/.local/share/Steam/ubuntu12_32/steam-runtime/amd64/lib/x86_64-linux-gnu/libgpg-error.so.0: no version information available (required by /lib/x86_64-linux-gnu/libgcrypt.so.20)

Also the detailed error is posted: https://gist.github.com/sanketrahul/10a325667ffde7100ec8058272864872
My SteamVR version: SteamVR build from January 3rd, 2017 using download_depot 250820 250823 1008772584334738762

cc: @k-okada @ishiguroJSK

roslaunch

hi
by running this command: $roslaunch vive_ros server_vr.launch

following message is returned:
/home/max/.steam/steam/steamapps/common/SteamVR/bin/linux64/vrserver: symbol lookup error: /lib/x86_64-linux-gnu/libgcrypt.so.20: undefined symbol: gpgrt_lock_lock, version GPG_ERROR_1.0
================================================================================REQUIRED process [server_vr-1] has died!
process has died [pid 4216, exit code 127, cmd /home/max/ws/catkin_ws/src/vive_ros/scripts/launch_servervr.sh __name:=server_vr __log:=/home/max/.ros/log/5a409ac2-f103-11ee-9e24-23a8459267aa/server_vr-1.log].
log file: /home/max/.ros/log/5a409ac2-f103-11ee-9e24-23a8459267aa/server_vr-1*.log
Initiating shutdown!

[server_vr-1] killing on exit
shutting down processing monitor...
... shutting down processing monitor complete
done

Please could you help me fixing this problem.

Can we get the passthrough view of the front-facing dual camera?

Can we get the passthrough view of the front-facing dual camera?

Vive_ros with HTC-Vive-Pro-2

Hi,

Does vive_ros work with HTC-Vive-Pro-2? I tried to launch server_vr.launch, but it failed. Have you tested it with HTC-Vive-Pro-2? Thank you very much!

Compatibility with Base Station 2.0

Currently, all base stations 1.0 are out of stock. We are planning to buy a base station 2.0 and a tracker for our lab. Does anyone tried it and can tell us if it works? As far as I know, the tracker has to be "2018" version but it should work. I would like to be sure before buying.

Is the headset actually required for the controller tracking?

Hi and thanks for your effort,
this is great. One question, if we order two base stations, a controller and link box, will it work without the headset? It seems that it is already possible to buy the accessories separately at the htc vive shop...

Thanks again for pointing us to a Vicon for $300 :), best
Vladimir Kubelka

Compilation failure with latest Steam/ SteamVR-4-linux Ubuntu 16.04

I thought I was making good progress on getting this library working with my robot, but not just yet...
working, as I'm very excited about using lighthouse tracked objects in ROS.

I've followed the instructions on installation and believe that I've satisfied all of the prereqs correctly
OS: Ubuntu 16.04
ROS: Kinetic (though i don't believe it matter so much in this case [yet])

I've cloned the most recent master of the Valve OpenVR commit 7fa6470f2972970859f2395f1390f6d87d4b0fc3

...And compiled it successfully per this Repos Install instructions.
Note: This repo's install.md instructions point to a depricated (per that repo owner; image shown below). So I cloned the more recent upstream OpenVR.

I've cloned this repo into my ROS workspace and run 'catkin_make'

the process succeed on all of my prior dependencies but fails compiling the vive_ros components with the following error(s)

Pasted [link]

inline log

/home/rosuser/catkin_ws/src/vive_ros/src/vr_interface.cpp:26:5: error: ‘ChaperoneCalibrationState_Error_BaseStationUninitalized’ is not a member of ‘vr’
   { vr::ChaperoneCalibrationState_Error_BaseStationUninitalized, "Tracking center hasn't be calibrated for at least one of the base stations" },
     ^
/home/rosuser/catkin_ws/src/vive_ros/src/vr_interface.cpp:30:1: error: no matching function for call to ‘std::map<vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> >::map(<brace-enclosed initializer list>)’
 };
 ^
In file included from /usr/include/c++/5/map:61:0,
                 from /home/rosuser/catkin_ws/src/vive_ros/src/vr_interface.cpp:3:
/usr/include/c++/5/bits/stl_map.h:273:9: note: candidate: template<class _InputIterator> std::map<_Key, _Tp, _Compare, _Alloc>::map(_InputIterator, _InputIterator, const _Compare&, const allocator_type&)
         map(_InputIterator __first, _InputIterator __last,
         ^
/usr/include/c++/5/bits/stl_map.h:273:9: note:   template argument deduction/substitution failed:
/home/rosuser/catkin_ws/src/vive_ros/src/vr_interface.cpp:30:1: note:   cannot convert ‘{ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved, "A base station thinks that it might have moved"}’ (type ‘<brace-enclosed initializer list>’) to type ‘const std::less<vr::ChaperoneCalibrationState>&’
 };
 ^
In file included from /usr/include/c++/5/map:61:0,
                 from /home/rosuser/catkin_ws/src/vive_ros/src/vr_interface.cpp:3:
/usr/include/c++/5/bits/stl_map.h:256:9: note: candidate: template<class _InputIterator> std::map<_Key, _Tp, _Compare, _Alloc>::map(_InputIterator, _InputIterator)
         map(_InputIterator __first, _InputIterator __last)
         ^
/usr/include/c++/5/bits/stl_map.h:256:9: note:   template argument deduction/substitution failed:
/home/rosuser/catkin_ws/src/vive_ros/src/vr_interface.cpp:30:1: note:   candidate expects 2 arguments, 10 provided
 };
 ^
In file included from /usr/include/c++/5/map:61:0,
                 from /home/rosuser/catkin_ws/src/vive_ros/src/vr_interface.cpp:3:
/usr/include/c++/5/bits/stl_map.h:239:9: note: candidate: template<class _InputIterator> std::map<_Key, _Tp, _Compare, _Alloc>::map(_InputIterator, _InputIterator, const allocator_type&)
         map(_InputIterator __first, _InputIterator __last,
         ^
/usr/include/c++/5/bits/stl_map.h:239:9: note:   template argument deduction/substitution failed:
/home/rosuser/catkin_ws/src/vive_ros/src/vr_interface.cpp:30:1: note:   cannot convert ‘{ChaperoneCalibrationState_Warning_BaseStationMayHaveMoved, "A base station thinks that it might have moved"}’ (type ‘<brace-enclosed initializer list>’) to type ‘const allocator_type& {aka const std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >&}’
 };
 ^
In file included from /usr/include/c++/5/map:61:0,
                 from /home/rosuser/catkin_ws/src/vive_ros/src/vr_interface.cpp:3:
/usr/include/c++/5/bits/stl_map.h:233:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(std::initializer_list<std::pair<const _Key, _Tp> >, const allocator_type&) [with _Key = vr::ChaperoneCalibrationState; _Tp = std::__cxx11::basic_string<char>; _Compare = std::less<vr::ChaperoneCalibrationState>; _Alloc = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >]
       map(initializer_list<value_type> __l, const allocator_type& __a)
       ^
/usr/include/c++/5/bits/stl_map.h:233:7: note:   candidate expects 2 arguments, 10 provided
/usr/include/c++/5/bits/stl_map.h:227:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(std::map<_Key, _Tp, _Compare, _Alloc>&&, const allocator_type&) [with _Key = vr::ChaperoneCalibrationState; _Tp = std::__cxx11::basic_string<char>; _Compare = std::less<vr::ChaperoneCalibrationState>; _Alloc = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >]
       map(map&& __m, const allocator_type& __a)
       ^
/usr/include/c++/5/bits/stl_map.h:227:7: note:   candidate expects 2 arguments, 10 provided
/usr/include/c++/5/bits/stl_map.h:223:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(const std::map<_Key, _Tp, _Compare, _Alloc>&, const allocator_type&) [with _Key = vr::ChaperoneCalibrationState; _Tp = std::__cxx11::basic_string<char>; _Compare = std::less<vr::ChaperoneCalibrationState>; _Alloc = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >]
       map(const map& __m, const allocator_type& __a)
       ^
/usr/include/c++/5/bits/stl_map.h:223:7: note:   candidate expects 2 arguments, 10 provided
/usr/include/c++/5/bits/stl_map.h:219:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(const allocator_type&) [with _Key = vr::ChaperoneCalibrationState; _Tp = std::__cxx11::basic_string<char>; _Compare = std::less<vr::ChaperoneCalibrationState>; _Alloc = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >]
       map(const allocator_type& __a)
       ^
/usr/include/c++/5/bits/stl_map.h:219:7: note:   candidate expects 1 argument, 10 provided
/usr/include/c++/5/bits/stl_map.h:211:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(std::initializer_list<std::pair<const _Key, _Tp> >, const _Compare&, const allocator_type&) [with _Key = vr::ChaperoneCalibrationState; _Tp = std::__cxx11::basic_string<char>; _Compare = std::less<vr::ChaperoneCalibrationState>; _Alloc = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >]
       map(initializer_list<value_type> __l,
       ^
/usr/include/c++/5/bits/stl_map.h:211:7: note:   candidate expects 3 arguments, 10 provided
/usr/include/c++/5/bits/stl_map.h:196:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(std::map<_Key, _Tp, _Compare, _Alloc>&&) [with _Key = vr::ChaperoneCalibrationState; _Tp = std::__cxx11::basic_string<char>; _Compare = std::less<vr::ChaperoneCalibrationState>; _Alloc = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >]
       map(map&& __x)
       ^
/usr/include/c++/5/bits/stl_map.h:196:7: note:   candidate expects 1 argument, 10 provided
/usr/include/c++/5/bits/stl_map.h:185:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(const std::map<_Key, _Tp, _Compare, _Alloc>&) [with _Key = vr::ChaperoneCalibrationState; _Tp = std::__cxx11::basic_string<char>; _Compare = std::less<vr::ChaperoneCalibrationState>; _Alloc = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >]
       map(const map& __x)
       ^
/usr/include/c++/5/bits/stl_map.h:185:7: note:   candidate expects 1 argument, 10 provided
/usr/include/c++/5/bits/stl_map.h:174:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map(const _Compare&, const allocator_type&) [with _Key = vr::ChaperoneCalibrationState; _Tp = std::__cxx11::basic_string<char>; _Compare = std::less<vr::ChaperoneCalibrationState>; _Alloc = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >; std::map<_Key, _Tp, _Compare, _Alloc>::allocator_type = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >]
       map(const _Compare& __comp,
       ^
/usr/include/c++/5/bits/stl_map.h:174:7: note:   candidate expects 2 arguments, 10 provided
/usr/include/c++/5/bits/stl_map.h:162:7: note: candidate: std::map<_Key, _Tp, _Compare, _Alloc>::map() [with _Key = vr::ChaperoneCalibrationState; _Tp = std::__cxx11::basic_string<char>; _Compare = std::less<vr::ChaperoneCalibrationState>; _Alloc = std::allocator<std::pair<const vr::ChaperoneCalibrationState, std::__cxx11::basic_string<char> > >]
       map()
       ^
/usr/include/c++/5/bits/stl_map.h:162:7: note:   candidate expects 0 arguments, 10 provided
vive_ros/CMakeFiles/vive_node.dir/build.make:86: recipe for target 'vive_ros/CMakeFiles/vive_node.dir/src/vr_interface.cpp.o' failed
make[2]: *** [vive_ros/CMakeFiles/vive_node.dir/src/vr_interface.cpp.o] Error 1
make[2]: *** Waiting for unfinished jobs....
CMakeFiles/Makefile2:2966: recipe for target 'vive_ros/CMakeFiles/vive_node.dir/all' failed
make[1]: *** [vive_ros/CMakeFiles/vive_node.dir/all] Error 2
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j12 -l12" failed

Any help/pointers much apprecaited

How to use image subscriber?

Hey,

the tracking is working fine. But i want to fuse an image into the HMD. When I comment out #define USE_IMAGE, the node crashes. Does anyone know a current setup under Ubuntu 18.04 that works?

Ubuntu 18.04
VR Server (v1600466902)
SteamVR 1.14.16
ROS Melodic

Terminal output:
term_out.txt

vive.launch shuts down immediately

Hi, this package looks like a nice package, but unfortunately it doesn't work yet for me.
I have installed it on Ubunty 16.04.7 LTS.

I followed all the steps until Launch the node: roslaunch vive_ros vive.launch, because this node shuts down immediately.
I get 3 messages:

[INFO] [...]: [VIVE] World offset: [0.000 , 0.000 , 2.265] 0.000
[ERROR] [...]: [VIVE] s that it might have moved
[INFO] [...]: [VIVE] Shutting down.

and on the terminal where I ran roslaunch vive_ros server_vr.launch I see the following messages:

assert_20210422144327_3.dmp[848]: error: libcurl.so: cannot open shared object file: No such file or directory
assert_20210422144327_3.dmp[848]: file ''/tmp/dumps/assert_20210422144327_3.dmp'', upload no: ''libcurl.so: cannot open shared object file: No such file or directory

What could be the problem and how do I fix this?

Connectvity with other controllers

Good morning!
I have successfully connected two Vive controller. May I ask if it is also possible also to connect a Vive tracker additionally or instead of one controller?
Thanks in advance!

Angular velocities

I am currently working on a project that uses the HTC Vive Pro headset.
Within this project, a mechanism was developed to reproduce the head movement of the user. The HTC Vive Pro is used to maintain the angular speeds for the roll, pitch and yaw axes.
However, the data sent by the headset is not neatly separated from each other. The roll and pitch axis depend on each other. This dependence is variable and depends with a trigonometric function on the angle of the yaw axis. As soon as a motion is made around the pitch axis, the data transmitted by the headset are pitch and roll speeds.
After a 90-degree rotation around the roll axis, an angular velocity for the yaw axis is transmitted when the headset is pitched.
How is it possible that the transmitted angular velocities do not depend on each other and always fit a fixed coordinate system on the headset?

cannot launch node of type

Problem:

I have built vive_ros from source and I got some sort of path error or node error. Not sure, pretty new to ROS.

ERROR: cannot launch node of type [vive_ros/launch_servervr.sh]: vive_ros
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share

so where is the problem? I've strictly followed the installation instrucions on the install.md data.
I've read a lil bit about the catkin workspace..is it possible the reason of the problem?

anybody working on this in ROS2?

Utilizing vive_ros without VR headset

Is it possible to use this repo without a vr headset or controllers. We want to purchase a vive tracker and four Vive 2.0 light houses to be able to localize an object.

Is wireless controller supported?

May I know if the VIVE controller can connect to PC wirelessly? Or it must require a usb cable to do so?
Appreciate any opinions!

button state

Hi,
I was wondering if you know how would it be possible to get the states of the trackpad and the grip button for example? Thanks

corrective transform

What is the point of creating the world_offset new_offset = new_rot*tf::Vector3(-tf_matrix[0][3], tf_matrix[2][3], -tf_matrix[1][3]); since this shuffles and inverts the translation and rotation axes?

linking issue when compiling on windows x64

Hello, I've attempted to compile the package on windows using this tutorial to install a terminal: http://wiki.ros.org/Installation/Windows
and changing all references to linux in the CMakelists to win (and changing uint max_devices_; to int max_devices_;)

In the end everything has compiled but when linking I get this error:
MSVCRT.lib(exe_main.obj) : error LNK2019: unresolved external symbol main referenced in function "int __cdecl __scrt_common_main_seh(void)" (?__scrt_common_main_seh@@yahxz)

Any ideas?
Thanks.

/tf unvisualizable in RViz

I'm getting sensible data in the /tf topic, but RViz says it is unvisualizable

visualisation

Hi, do you have some code for the visualisation as presented in the yt video?
Is it done with rviz?
Thanks!

Ubuntu 16.04

This is awesome! Just a comment that steam or something else wasn't playing nice on 16.04 whereas everything on 14.04 worked nicely.

vive_ros not working, crash with VR_Init Failed

roslaunch vive_ros check_vr.launch says:

VR Server (v1481163074)

Using breakpad crash handler
Setting breakpad minidump AppID = 250820
Forcing breakpad minidump interfaces to load
Looking up breakpad interfaces from steamclient
Calling BreakpadMiniDumpSystemInit

Device 0 - lighthouse.LHR-7949E0FF - Vive MV by HTC - HMD - generic_hmd
	Tracking Firmware Version: 1462663157 steamservices@firmware-win32 2016-05-08 FPGA 1.6/0/0
	Hardware Revision: product 128 rev 2.1.0 lot 2000/0/0 0
		 Left Projection: left=-1.397411, right=1.247454, top=-1.473242, bottom=1.464810
		Right Projection: left=-1.249054, right=1.389481, top=-1.468210, bottom=1.463295
		Lens Center: (0.545358, 0.497704), (0.457423, 0.498659)
Driver lighthouse : 1 displays
	Vive MV (Serial number LHR-7949E0FF)
Driver oculus : 0 displays
Driver oculus_legacy : 0 displays
Driver null : 0 displays

So I think my HTC Vive is detected correctly.

Then launching roslaunch vive_ros server_vr.launch:

VR Server (v1481163074)

Using breakpad crash handler
Setting breakpad minidump AppID = 250820
Forcing breakpad minidump interfaces to load
Looking up breakpad interfaces from steamclient
Calling BreakpadMiniDumpSystemInit
ioctl (GFEATURE): Broken pipe
ioctl (GFEATURE): Broken pipe
ioctl (GFEATURE): Broken pipe
...

All the ioctl (GFEATURE): Broken pipe messages appear when launching
roslaunch vive_ros vive.launch, which outputs:

[ INFO] [1482220723.674755948]:  [VIVE] World offset: [0.000 , 0.000, 2.000] 0.000
Using breakpad crash handler
Setting breakpad minidump AppID = 338750
Forcing breakpad minidump interfaces to load
Looking up breakpad interfaces from steamclient
Calling BreakpadMiniDumpSystemInit
[ERROR] [1482220724.699592438]:  [VIVE] VR_Init Failed.
[ INFO] [1482220724.699632668]:  [VIVE] Shutting down.

no issue

For the current steamvr you only need to run the following command to run your code
~/.steam/ubuntu12_32/steam-runtime/run.sh devel/lib/vive_ros/vive_node

thanks a lot for this package. we are using it to compare our custom vive tracking with steamVR

ROS Melodic - `ZLIB_1.2.9' not found (required by /usr/lib/x86_64-linux-gnu/libpng16.so.16)

ROS Melodic is probably not supported by this package yet, but it seems like it could be doable if the library issues are fixed. I currently get the following error when trying to launch the vive.launch from the vulkan-dev-2018 branch with the newest OpenVR SDK (1.0.15) in ROS Melodic:

~/catkin_ws/devel/lib/vive_ros/vive_node: ~/.steam/ubuntu12_32/steam-
runtime/amd64/lib/x86_64-linux-gnu/libz.so.1: version `ZLIB_1.2.9' not found (required by 
/usr/lib/x86_64-linux-gnu/libpng16.so.16)
================================================================================
REQUIRED process [vive_node-1] has died!
process has died [pid 8603, exit code 1, cmd ~/catkin_ws/devel/lib/vive_ros/vive_node 
__name:=vive_node __log:=~/.ros/log/8923e978-7451-11e8-8ce2-
4cedfb5e997e/vive_node-1.log].
log file: ~/.ros/log/8923e978-7451-11e8-8ce2-4cedfb5e997e/vive_node-1*.log
Initiating shutdown!
================================================================================

The log file is empty

I tried the solution mentioned for a similar problem (https://ubuntuforums.org/showthread.php?t=2375927), but it didn't seem to work for this particular case.

vive_ros: Universal ID invalid

I am trying to get the HTC vive running using vive_ros. I am facing a couple of issues:

1. The server complains of broken pipes immediately after running the vive node (this is done after launching the vrserver).
2. I noticed that the default 'config' was being used for play area and universe ID. There was a printout for invalid 'Universe ID'. Looking at the windows counterpart revealed a .vrchap file which seems to contain the 'play-area' specification. Is there a way to tell the ros node to use specific config files ?

Thank you.