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"Vrui modified" for use with HTC Vive and ROS + Gazebo

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# vrui_mdf
"Vrui modified" for use with HTC Vive and ROS + Gazebo

## Caution

Version of Vrui we're using is Vrui-4.6-005. (up to 04/08/2019)
(will be updated)

In case that if Vrui have a new version released, it'll make it an issue to build and we're not changing it in time, 
please change it to the right version for line 154 of vrui_mdf/CMakeLists.txt, line 14 of vrui_mdf/scripts/cod_edi.py.

We're cleaning up the code, so feel free to post an issue when there's any.

## For More Details
### Figure for implementation

![figure_1](https://user-images.githubusercontent.com/24307076/42660737-0c8e63b0-85fa-11e8-95ff-bbf9ec9a4d53.png)

### Demo Video

https://www.youtube.com/watch?v=fZ7kt_WORCY

### Publication
https://arc.aiaa.org/doi/pdf/10.2514/6.2018-5229

## Software:
### Target Version:
OS: Ubuntu 16.04 
ROS: Kinetic 
Vrui: 4.6-005 (12/06/2018) 
SteamVR: 1.1.3b (11/27/2018)

### SteamVR:
SteamCMD is needed to download the right version of SteamVR, to install SteamCMD: 
(Source site: https://github.com/OSVR/OSVR-Vive/issues/20)

$ sudo apt-get install steamcmd
	
To use steamcmd:

$ steamcmd
	$ login <YOUR-STEAM-NAME> 
	$ download_depot 250820 250823 2021799642281401918
	(download_depot {appid} {depotid} {target manifestid})

For steamvr, appid is 250820, depotid is 25083, manifestid of the target version(1.1.3b, 11/27/2018) is 2021799642281401918.

Look for the right version of steamvr needed in this site: 
http://idav.ucdavis.edu/~okreylos/ResDev/Vrui/LinkDownload.html

Manifestid can be find in this site based on the releasing date: 
https://steamdb.info/depot/250823/manifests/

Usually, the depot will be downloaded to:

/.steam/steamcmd/linux32\steamapps\content\app_250820\depot_250823

Replace the package with the current one which is at:

/.local/share/Steam/steamapps/common/SteamVR

Then run the script of Vrui to install

### Vrui:
Releasing time line of vrui: 
http://idav.ucdavis.edu/~okreylos/

The newest version 4.6-005 (up to 04/08/2019) : 
http://idav.ucdavis.edu/~okreylos/ResDev/Vrui/LinkDownload.html 
(this package is based on Ubuntu 16.04, "Build-Ubuntu.sh" should work)

Follow the instruction on the website above to install, may need to use "sudo" to bash the script

### Gcc:
To switch between different versions(may not be necessary for this repository):

$ sudo update-alternatives --config gcc
	
### Turtlebot_Gazebo:

Installation tutorial: 
http://wiki.ros.org/turtlebot/Tutorials/indigo/Turtlebot%20Installation 
(this package is based on Kinetic, not indigo, need to change the counterpart when installing)

### Hector_quadrotor:

$ source /opt/ros/kinetic/setup.bash
	$ sudo apt install ros-kinetic-joystick-drivers ros-kinetic-teleop-twist-keyboard
	$ mkdir ~/catkin_ws/src
	$ rosinstall ~/catkin_ws/src /opt/ros/kinetic https://raw.githubusercontent.com/AS4SR/hector_quadrotor/kinetic-devel/tutorials.rosinstall
	$ cd ~/catkin_ws
	$ catkin_make
	$ source devel/setup.bash
for more information, go to: https://github.com/AS4SR/hector_quadrotor

### Other packages:

Xbox controller in Ubuntu: 
http://wiki.ros.org/joy/Tutorials/ConfiguringALinuxJoystick

ROS installation tutorial: 
http://wiki.ros.org/kinetic/Installation/Ubuntu 
(including methods to search and install indivitual packages) 
Use last command in section 1.4 to seach for the correct name of the packages, and install them if needed.

## Displays setting:
	
Vive (usually named as HVR 5" in setting) needs to be set as **secondary display** on the right side of the main moniter 
Resolution: 1920*1200 (**16:10**) 
Rotation: Normal 
Launcher placement: Main monitor 
Scale all window contents to match: Main monitor

The first number in the 59th line from the code of "src/imagesub" needs to be the width of the main monitor plus one, so change the resolution of the main monitor or change the number in the code.

## Before implementation:

build the tracking node: 
(assume the package path is "~/catkin/src/vrui_mdf")

$cd vrui_mdf/scripts

$chmod +x cod_edi.py

$cd ~/catkin_ws
	(Assume the work space is ~/catkin_ws, and the codes start reading from there)

$rosrun vrui_mdf cod_edi.py

Then you can compile the package with:

$cd ~/catkin_ws
	
	$catkin_make

model file path in following codes need to be changed according to the local path: 
tracking.cpp, controllers.cpp (all the other controllers), standingpoint.cpp, joy_hector.cpp 
(I'll fix this ASAP)

## Implementation:
	
	$roslaunch vrui_mdf VR_quadrotor.launch
(using **Vive controllers** to control **quadrotor**) 
(system button to switch between methods, right triger to assign the point)

$roslaunch vrui_mdf VR_quadrotor_outdoor.launch
(using **Vive controllers** to control **quadrotor**, with environment) 
(system button to switch between methods, right triger to assign the point)

$roslaunch vrui_mdf VR_quadrotor_xbox.launch
(using **xbox controller** to control **quadrotor**) 
(up&down button to switch between methods, right triger to assign the point)

$roslaunch vrui_mdf VR_turtlebot.launch
(using **Vive controllers** to control **turtlebot**) 
(system button to switch between methods, right triger to assign the point)

$roslaunch vrui_mdf VR_turtlebot_xbox.launch
(using **xbox controllers** to control **turtlebot**) 
(system button to switch between methods, right triger to assign the point)

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