ohr_refresh: A C++ repository from ConradKent

Required Software:

OpenGL/GLEW/SDL2:

OpenGL: https://www.opengl.org// GLEW: http://glew.sourceforge.net/ SDL: https://www.libsdl.org/

Some more work needs to be done on paring down what exact things from OpenGL/GLEW/SDL need to be installed and used. For now, it's a safe bet to just install GLEW and SDL2, which can be done using

	$sudo apt install libglew-dev

as well as

	$sudo apt install libsdl2-dev

OpenVR

https://github.com/ValveSoftware/openvr Must have SDL2 and GLEW dev packages already installed. Install by using:

	$git clone https://github.com/ValveSoftware/openvr
	$cd openvr
	$mkdir build && cd build
	$cmake ..
	$make
	$sudo make install

ROS/Gazebo

Install ROS Noetic and Gazebo using this tutorial: http://wiki.ros.org/noetic/Installation/Ubuntu Set up a Catkin Workspace (~/catkin_ws) using this tutorial: http://wiki.ros.org/catkin/Tutorials/create_a_workspace. The rest of this document assumes that your workspace is called "catkin_ws" and is located in your home folder.

Add model path to .bashrc

We need to tell gazebo where some of our models are. First do this:

	$cd ~/catkin_ws
	$gedit ~/.bashrc

Now paste the following two lines at the end of your .bashrc file (replace with the path to your model folder):

	$export GAZEBO_MODEL_PATH=~/catkin_dev/src/openvr_headset_ros/models:${GAZEBO_MODEL_PATH}
	
	$export GAZEBO_RESOURCE_PATH=~/catkin_dev/src/openvr_headset_ros/models:${GAZEBO_RESOURCE_PATH}

How to run

Make sure SteamVR is already running (you just need the headset to be active, it doesn't matter if the controllers are attached) then run:

$cd catkin_dev
$source /opt/ros/noetic/setup.bash
$source devel/setup.bash
$export GAZEBO_PLUGIN_PATH=$GAZEBO_PLUGIN_PATH:/home/conrad/catkin_dev/devel/lib
$roslaunch ohr_refresh main.launch