Teleoperation system

This repository includes the teleoperation interface between Meta Quest 3 VR Headset and robot.

Usage

• On headset:
  • Turn on the headset: hold the power button until 'Meta Horizon OS' shows up in the headset
  • Press menu button on the right controller to show the menu bar
  • Connect to ori-wlan (the headset should automatically connect upon starting).
  • Open the Library to the right of the menu bar -> Go to Applications -> Open Teleoperation_v3.
  • Input the laptop IP on the UI.
  • Hit Start/Stop button to start or stop/pause the data stream
• On laptop:
  • Connect to ori-wlan.
  • Build this repository:

  catkin build teleoperation_vr
  source devel/setup.bash
  

  • Launch the connection:

  roslaunch teleoperation_vr connect_vr.launch
  

• The laptop should now receive the right controller data:
  • Check:

  rostopic echo /vr_controller
  

  • The rostopic is using controller.msg type

Notes

• If the thumbstick signal is not sending, stop the application by hitting Menu button -> Quit. Then re-launch the app.
• If you don't need to modify the Unity application:
  • No installation is required.
  • You don't need to connect the USB C cable.

Connect Quest to Ubuntu with cable

• This is only required if you want to develop or debug Unity app, or download media from the headset
• Install adb:

sudo apt install adb

• Connect the device to the laptop using the USB-C cable
• Confirm connection:

adb devices

• There should be a prompt in the headset asking for permission to allow connection to the computer -> Hit Allow