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h2r / ros_reality

Connect a ROS-enabled robot to Unity
MIT License
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Baxter placement in Unity scene #2

Open agutif opened 6 years ago

agutif commented 6 years ago

We are trying to control our Baxter robot with Oculus HMD and Oculus Touch controllers.

We installed successfully ros_reality_bridge (no_ein branch) in the Baxter workstation and our Kinect is correctly calibrated as you can see in this screenshot.

captura de pantalla de 2018-06-01 12_36_44

But in Windows computer, when we launch one scene, we saw the pointcloud of Baxter "emerging" from the ground, so we can not place ourselves as if we were Baxter.

captura de pantalla 1 captura de pantalla 2

We can open and close the grippers by pressing the triggers, but we can not control the arms, maybe because we can not be placed as if we were Baxter.

Thanks in advance for your help.

stevensu1838 commented 5 years ago

Hi, May I please ask if it is doable with the simulated Baxter in the gazebo? Or I have to start with the real one? Thanks a lot.

dwhit commented 5 years ago

At @stevensu1838, you can definitely do this with a simulated baxter.

at @agutif, it looks like the kinect transformation is not read being appropriately in unity. Does the robot itself appear?

agutif commented 5 years ago

At @dwhit, no. In the Unity scene I can only see the point cloud generated by the Kinect and the cameras of the hands.

ericrosenbrown commented 5 years ago

@agutif Were you getting any errors in the Unity scene when running this? Can you also confirm that on the ROS side that your /ros_unity topic is streaming the TF data correctly?