vive_tracker_teleop

Vive tracker to end-effector pose bridge.

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Repository: vive_tracker_teleop (private)

Purpose

Maps Vive tracker poses to arm end-effector targets:

  • Tracker position → EE position

  • Tracker orientation → EE orientation

  • Configurable offset

Topics

Published

Topic

Type

Description

/teleop/left_ee_pose

PoseStamped

Left arm target

/teleop/right_ee_pose

PoseStamped

Right arm target

Configuration

vive_tracker_teleop:
  ros__parameters:
    left_tracker_id: LHR-xxx
    right_tracker_id: LHR-yyy
    
    transform_offset:
      position: [0.0, 0.0, 0.1]
      orientation: [0.0, 0.0, 0.0, 1.0]

Setup

  1. Configure SteamVR

  2. Pair trackers

  3. Calibrate offset to robot base