Apps ≫ 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