ROS package that uses a Razer Hydra to manipulate objects in a Drake simulation. Acquires signals from the controller via ROS messages from aleeper/razer_hydra, and visualizes / allows controls of simulation through Meshcat.
Install Drake with Python bindings. A binary install should work fine. (TODO: Peg a version.)
Set up a version of ROS that's happy with Python3. I'm on a weird old setup that uses Melodic but uses this guide to get Python3 support; using something more modern should hopefully work the same.
In a ROS catkin workspace, clone
- this repo
- aleeper/razer_hydra, the razer-hydra driver
and run
catkin_make.
In one terminal:
roslaunch razer_hydra hydra.launch