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rail-berkeley / oculus_reader

Apache License 2.0
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Add hand joints tf publishing functionality #3

Open W567 opened 10 months ago

W567 commented 10 months ago

This PR is to extend the functionality of not only publishing hand(palm) tf and printing button info originally, but also publishing all finger joints tf.

The final result of this PR is as shown in the figure below: oculus_reader

Because the string representing finger joint transformations is too long (truncation happened with the ndk==21.4.7075529), the whole string has been split into several chunks to avoid truncation. (Or, upgrading ndk version to the latest one is likely to solve the problem with no need of splitting.)

Also, in this PR, the whole project has been set up as a ros package, with launch file and corresponding rviz configuration file provided for easier testing.

However, I'm not sure if it's proper to set it as the ros package, and would like to seek for your suggestions.

Jendker commented 10 months ago

Hello and thank you for the contribution!

Unfortunately, I don't have access to the Oculus Quest at the moment, so I cannot check the changes. That's why it's better to keep your changes as a pull request until they can be verified. I hope this makes sense to you.

W567 commented 10 months ago

@Jendker Thanks for your response! Before verification, please feel free to keep it as the PR. Also, any advice on the changes are welcome!