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robosavvy / vive_ros

ROS package for publishing HTV VIVE device locations.
BSD 3-Clause "New" or "Revised" License
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vive_ros not working, crash with VR_Init Failed #10

Closed awesomebytes closed 5 years ago

awesomebytes commented 7 years ago

roslaunch vive_ros check_vr.launch says:

VR Server (v1481163074)

Using breakpad crash handler
Setting breakpad minidump AppID = 250820
Forcing breakpad minidump interfaces to load
Looking up breakpad interfaces from steamclient
Calling BreakpadMiniDumpSystemInit

Device 0 - lighthouse.LHR-7949E0FF - Vive MV by HTC - HMD - generic_hmd
    Tracking Firmware Version: 1462663157 steamservices@firmware-win32 2016-05-08 FPGA 1.6/0/0
    Hardware Revision: product 128 rev 2.1.0 lot 2000/0/0 0
         Left Projection: left=-1.397411, right=1.247454, top=-1.473242, bottom=1.464810
        Right Projection: left=-1.249054, right=1.389481, top=-1.468210, bottom=1.463295
        Lens Center: (0.545358, 0.497704), (0.457423, 0.498659)
Driver lighthouse : 1 displays
    Vive MV (Serial number LHR-7949E0FF)
Driver oculus : 0 displays
Driver oculus_legacy : 0 displays
Driver null : 0 displays

So I think my HTC Vive is detected correctly.

Then launching roslaunch vive_ros server_vr.launch:

VR Server (v1481163074)

Using breakpad crash handler
Setting breakpad minidump AppID = 250820
Forcing breakpad minidump interfaces to load
Looking up breakpad interfaces from steamclient
Calling BreakpadMiniDumpSystemInit
ioctl (GFEATURE): Broken pipe
ioctl (GFEATURE): Broken pipe
ioctl (GFEATURE): Broken pipe
...

All the ioctl (GFEATURE): Broken pipe messages appear when launching roslaunch vive_ros vive.launch, which outputs:

[ INFO] [1482220723.674755948]:  [VIVE] World offset: [0.000 , 0.000, 2.000] 0.000
Using breakpad crash handler
Setting breakpad minidump AppID = 338750
Forcing breakpad minidump interfaces to load
Looking up breakpad interfaces from steamclient
Calling BreakpadMiniDumpSystemInit
[ERROR] [1482220724.699592438]:  [VIVE] VR_Init Failed.
[ INFO] [1482220724.699632668]:  [VIVE] Shutting down.
awesomebytes commented 7 years ago

I found out that executing the hellovr demo of https://github.com/ChristophHaag/openvr.git in openvr/build/samples/hellovr_opengl/run_hellovr.sh I get a window in my HTC Vive headset with the error:

VR_Init Failed
Unable to init VR runtime: Hmd Not Found Presence Failed (126)
awesomebytes commented 7 years ago

Exploring further...

export LD_LIBRARY_PATH=~/libraries/openvr/bin/linux64:$LD_LIBRARY_PATH
~/.local/share/Steam/steamapps/common/SteamVR/bin/linux64$ ./vrcmd
VR_IsHmdPresent returned false to indicate that there are no attached HMDs.

I've tried connecting skipping the connector box, in both my USB 3.0 ports, also with an adapter on a USB type C port...

When I plug my HTC Vive into the USB port I get this output on dmesg:

 3043.273623] usb 1-2: new high-speed USB device number 66 using xhci_hcd
[ 3043.402397] usb 1-2: New USB device found, idVendor=0bb4, idProduct=2744
[ 3043.402406] usb 1-2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 3043.402410] usb 1-2: Product: CB USB2
[ 3043.402414] usb 1-2: Manufacturer: HTC
[ 3043.403199] hub 1-2:1.0: USB hub found
[ 3043.403262] hub 1-2:1.0: 3 ports detected
[ 3043.673658] usb 1-2.1: new high-speed USB device number 67 using xhci_hcd
[ 3043.762092] usb 1-2.1: New USB device found, idVendor=0bb4, idProduct=2134
[ 3043.762101] usb 1-2.1: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 3043.762106] usb 1-2.1: Product: USB2137B
[ 3043.762110] usb 1-2.1: Manufacturer: SMSC
[ 3043.762773] hub 1-2.1:1.0: USB hub found
[ 3043.762813] hub 1-2.1:1.0: 7 ports detected
[ 3043.849624] usb 1-2.2: new full-speed USB device number 68 using xhci_hcd
[ 3043.941064] usb 1-2.2: New USB device found, idVendor=0bb4, idProduct=0306
[ 3043.941071] usb 1-2.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 3043.941076] usb 1-2.2: Product: BCM920703 Bluetooth 4.1
[ 3043.941080] usb 1-2.2: Manufacturer: Broadcom Corp
[ 3043.941083] usb 1-2.2: SerialNumber: AC37435E2214
[ 3044.029634] usb 1-2.3: new high-speed USB device number 69 using xhci_hcd
[ 3044.118943] usb 1-2.3: New USB device found, idVendor=0424, idProduct=274d
[ 3044.118951] usb 1-2.3: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 3044.118956] usb 1-2.3: Product: Hub Controller
[ 3044.118960] usb 1-2.3: Manufacturer: HTC
[ 3044.121034] cdc_acm 1-2.3:1.0: ttyACM0: USB ACM device
[ 3044.189672] usb 1-2.1.5: new full-speed USB device number 70 using xhci_hcd
[ 3044.279870] usb 1-2.1.5: New USB device found, idVendor=0bb4, idProduct=2c87
[ 3044.279878] usb 1-2.1.5: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 3044.279883] usb 1-2.1.5: Product: HTC Vive
[ 3044.279887] usb 1-2.1.5: Manufacturer: HTC
[ 3044.279890] usb 1-2.1.5: SerialNumber: 206637505648
[ 3044.283614] hid-generic 0003:0BB4:2C87.0034: hiddev0,hidraw1: USB HID v1.11 Device [HTC HTC Vive] on usb-0000:00:14.0-2.1.5/input0
[ 3044.369676] usb 1-2.1.6: new full-speed USB device number 71 using xhci_hcd
[ 3044.461774] usb 1-2.1.6: New USB device found, idVendor=28de, idProduct=2101
[ 3044.461777] usb 1-2.1.6: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 3044.461779] usb 1-2.1.6: Product: Watchman Dongle
[ 3044.461780] usb 1-2.1.6: Manufacturer: Valve Software
[ 3044.461781] usb 1-2.1.6: SerialNumber: B0C84D8AF1
[ 3044.469643] hid-generic 0003:28DE:2101.0035: hiddev0,hidraw2: USB HID v1.11 Device [Valve Software Watchman Dongle] on usb-0000:00:14.0-2.1.6/input0
[ 3044.541647] usb 1-2.1.7: new full-speed USB device number 72 using xhci_hcd
[ 3044.632945] usb 1-2.1.7: New USB device found, idVendor=28de, idProduct=2101
[ 3044.632954] usb 1-2.1.7: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 3044.632959] usb 1-2.1.7: Product: Watchman Dongle
[ 3044.632963] usb 1-2.1.7: Manufacturer: Valve Software
[ 3044.632967] usb 1-2.1.7: SerialNumber: 65668A3251
[ 3044.641942] hid-generic 0003:28DE:2101.0036: hiddev0,hidraw3: USB HID v1.11 Device [Valve Software Watchman Dongle] on usb-0000:00:14.0-2.1.7/input0
[ 3044.841684] usb 1-2.1.1: new full-speed USB device number 73 using xhci_hcd
[ 3044.931123] usb 1-2.1.1: New USB device found, idVendor=28de, idProduct=2000
[ 3044.931125] usb 1-2.1.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 3044.931127] usb 1-2.1.1: Product: Lighthouse FPGA RX
[ 3044.931128] usb 1-2.1.1: Manufacturer: Valve Software
[ 3044.931129] usb 1-2.1.1: SerialNumber: LHR-7949E0FF
[ 3044.937095] hid-generic 0003:28DE:2000.0037: hiddev0,hidraw4: USB HID v1.01 Device [Valve Software Lighthouse FPGA RX] on usb-0000:00:14.0-2.1.1/input0
[ 3044.938359] hid-generic 0003:28DE:2000.0038: hiddev0,hidraw5: USB HID v1.01 Device [Valve Software Lighthouse FPGA RX] on usb-0000:00:14.0-2.1.1/input1
[ 3045.137699] usb 1-2.1.2: new high-speed USB device number 74 using xhci_hcd
[ 3045.226787] usb 1-2.1.2: New USB device found, idVendor=0bb4, idProduct=2c87
[ 3045.226796] usb 1-2.1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 3045.226800] usb 1-2.1.2: Product: HTC Vive
[ 3045.226805] usb 1-2.1.2: Manufacturer: Alpha Imaging Tech
[ 3045.227774] uvcvideo: Found UVC 1.00 device HTC Vive (0bb4:2c87)
[ 3045.253793] input: HTC Vive as /devices/pci0000:00/0000:00:14.0/usb1/1-2/1-2.1/1-2.1.2/1-2.1.2:1.0/input/input32
[ 3045.453601] usb 1-2.1.4: new full-speed USB device number 75 using xhci_hcd
[ 3045.544125] usb 1-2.1.4: New USB device found, idVendor=0d8c, idProduct=0012
[ 3045.544133] usb 1-2.1.4: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 3045.544137] usb 1-2.1.4: Product: USB Audio Device
[ 3045.544142] usb 1-2.1.4: Manufacturer: C-Media Electronics Inc.
[ 3045.559010] input: C-Media Electronics Inc. USB Audio Device as /devices/pci0000:00/0000:00:14.0/usb1/1-2/1-2.1/1-2.1.4/1-2.1.4:1.3/0003:0D8C:0012.0039/input/input33
[ 3045.614173] hid-generic 0003:0D8C:0012.0039: input,hidraw6: USB HID v1.00 Device [C-Media Electronics Inc. USB Audio Device] on usb-0000:00:14.0-2.1.4/input3
[ 3083.940405] usb 1-2: USB disconnect, device number 66
[ 3083.940411] usb 1-2.1: USB disconnect, device number 67
[ 3083.940414] usb 1-2.1.1: USB disconnect, device number 73
[ 3083.943004] usb 1-2.1.2: USB disconnect, device number 74
[ 3083.979564] usb 1-2.1.4: USB disconnect, device number 75
[ 3084.019471] usb 1-2.1.5: USB disconnect, device number 70
[ 3084.020383] usb 1-2.1.6: USB disconnect, device number 71
[ 3084.021522] usb 1-2.1.7: USB disconnect, device number 72
[ 3084.024464] usb 1-2.2: USB disconnect, device number 68
[ 3084.026049] usb 1-2.3: USB disconnect, device number 69
[ 3091.674787] usb 1-2: new high-speed USB device number 76 using xhci_hcd
[ 3091.803345] usb 1-2: New USB device found, idVendor=0bb4, idProduct=2744
[ 3091.803357] usb 1-2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 3091.803364] usb 1-2: Product: CB USB2
[ 3091.803370] usb 1-2: Manufacturer: HTC
[ 3091.804070] hub 1-2:1.0: USB hub found
[ 3091.804120] hub 1-2:1.0: 3 ports detected
[ 3092.074757] usb 1-2.2: new full-speed USB device number 77 using xhci_hcd
[ 3092.166426] usb 1-2.2: New USB device found, idVendor=0bb4, idProduct=0306
[ 3092.166435] usb 1-2.2: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 3092.166440] usb 1-2.2: Product: BCM2045A0
[ 3092.166444] usb 1-2.2: Manufacturer: Broadcom Corp
[ 3092.166447] usb 1-2.2: SerialNumber: AC37435E2214
[ 3092.254701] usb 1-2.3: new high-speed USB device number 78 using xhci_hcd
[ 3092.344188] usb 1-2.3: New USB device found, idVendor=0424, idProduct=274d
[ 3092.344196] usb 1-2.3: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 3092.344201] usb 1-2.3: Product: Hub Controller
[ 3092.344205] usb 1-2.3: Manufacturer: HTC
[ 3092.345764] cdc_acm 1-2.3:1.0: ttyACM0: USB ACM device
[ 3092.542812] usb 1-2.1: new high-speed USB device number 79 using xhci_hcd
[ 3092.631253] usb 1-2.1: New USB device found, idVendor=0bb4, idProduct=2134
[ 3092.631261] usb 1-2.1: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 3092.631265] usb 1-2.1: Product: USB2137B
[ 3092.631269] usb 1-2.1: Manufacturer: SMSC
[ 3092.631961] hub 1-2.1:1.0: USB hub found
[ 3092.631996] hub 1-2.1:1.0: 7 ports detected
[ 3092.902820] usb 1-2.1.5: new full-speed USB device number 80 using xhci_hcd
[ 3092.993241] usb 1-2.1.5: New USB device found, idVendor=0bb4, idProduct=2c87
[ 3092.993249] usb 1-2.1.5: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 3092.993253] usb 1-2.1.5: Product: HTC Vive
[ 3092.993257] usb 1-2.1.5: Manufacturer: HTC
[ 3092.993260] usb 1-2.1.5: SerialNumber: 206637505648
[ 3092.997106] hid-generic 0003:0BB4:2C87.003A: hiddev0,hidraw1: USB HID v1.11 Device [HTC HTC Vive] on usb-0000:00:14.0-2.1.5/input0
[ 3099.686864] usb 1-2.1.6: new full-speed USB device number 81 using xhci_hcd
[ 3099.778502] usb 1-2.1.6: New USB device found, idVendor=28de, idProduct=2101
[ 3099.778509] usb 1-2.1.6: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 3099.778513] usb 1-2.1.6: Product: Watchman Dongle
[ 3099.778516] usb 1-2.1.6: Manufacturer: Valve Software
[ 3099.778519] usb 1-2.1.6: SerialNumber: B0C84D8AF1
[ 3099.787318] hid-generic 0003:28DE:2101.003B: hiddev0,hidraw2: USB HID v1.11 Device [Valve Software Watchman Dongle] on usb-0000:00:14.0-2.1.6/input0
[ 3099.986981] usb 1-2.1.7: new full-speed USB device number 82 using xhci_hcd
[ 3100.078547] usb 1-2.1.7: New USB device found, idVendor=28de, idProduct=2101
[ 3100.078555] usb 1-2.1.7: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 3100.078560] usb 1-2.1.7: Product: Watchman Dongle
[ 3100.078563] usb 1-2.1.7: Manufacturer: Valve Software
[ 3100.078567] usb 1-2.1.7: SerialNumber: 65668A3251
[ 3100.087679] hid-generic 0003:28DE:2101.003C: hiddev0,hidraw3: USB HID v1.11 Device [Valve Software Watchman Dongle] on usb-0000:00:14.0-2.1.7/input0
[ 3100.286947] usb 1-2.1.1: new full-speed USB device number 83 using xhci_hcd
[ 3100.376508] usb 1-2.1.1: New USB device found, idVendor=28de, idProduct=2000
[ 3100.376518] usb 1-2.1.1: New USB device strings: Mfr=1, Product=2, SerialNumber=3
[ 3100.376523] usb 1-2.1.1: Product: Lighthouse FPGA RX
[ 3100.376529] usb 1-2.1.1: Manufacturer: Valve Software
[ 3100.376533] usb 1-2.1.1: SerialNumber: LHR-7949E0FF
[ 3100.383637] hid-generic 0003:28DE:2000.003D: hiddev0,hidraw4: USB HID v1.01 Device [Valve Software Lighthouse FPGA RX] on usb-0000:00:14.0-2.1.1/input0
[ 3100.385499] hid-generic 0003:28DE:2000.003E: hiddev0,hidraw5: USB HID v1.01 Device [Valve Software Lighthouse FPGA RX] on usb-0000:00:14.0-2.1.1/input1
[ 3100.582999] usb 1-2.1.2: new high-speed USB device number 84 using xhci_hcd
[ 3100.672164] usb 1-2.1.2: New USB device found, idVendor=0bb4, idProduct=2c87
[ 3100.672172] usb 1-2.1.2: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 3100.672177] usb 1-2.1.2: Product: HTC Vive
[ 3100.672180] usb 1-2.1.2: Manufacturer: Alpha Imaging Tech
[ 3100.673052] uvcvideo: Found UVC 1.00 device HTC Vive (0bb4:2c87)
[ 3100.698813] input: HTC Vive as /devices/pci0000:00/0000:00:14.0/usb1/1-2/1-2.1/1-2.1.2/1-2.1.2:1.0/input/input34
[ 3100.899009] usb 1-2.1.4: new full-speed USB device number 85 using xhci_hcd
[ 3100.989576] usb 1-2.1.4: New USB device found, idVendor=0d8c, idProduct=0012
[ 3100.989586] usb 1-2.1.4: New USB device strings: Mfr=1, Product=2, SerialNumber=0
[ 3100.989590] usb 1-2.1.4: Product: USB Audio Device
[ 3100.989594] usb 1-2.1.4: Manufacturer: C-Media Electronics Inc.
[ 3101.004935] input: C-Media Electronics Inc. USB Audio Device as /devices/pci0000:00/0000:00:14.0/usb1/1-2/1-2.1/1-2.1.4/1-2.1.4:1.3/0003:0D8C:0012.003F/input/input35
[ 3101.059382] hid-generic 0003:0D8C:0012.003F: input,hidraw6: USB HID v1.00 Device [C-Media Electronics Inc. USB Audio Device] on usb-0000:00:14.0-2.1.4/input3

Furthermore lsusb says:

Bus 002 Device 001: ID 1d6b:0003 Linux Foundation 3.0 root hub
Bus 001 Device 004: ID 0bda:58c2 Realtek Semiconductor Corp. 
Bus 001 Device 003: ID 0cf3:e300 Atheros Communications, Inc. 
Bus 001 Device 002: ID 187c:0530 Alienware Corporation 
Bus 001 Device 078: ID 0424:274d Standard Microsystems Corp. 
Bus 001 Device 077: ID 0bb4:0306 HTC (High Tech Computer Corp.) 
Bus 001 Device 082: ID 28de:2101  
Bus 001 Device 081: ID 28de:2101  
Bus 001 Device 080: ID 0bb4:2c87 HTC (High Tech Computer Corp.) 
Bus 001 Device 085: ID 0d8c:0012 C-Media Electronics, Inc. 
Bus 001 Device 084: ID 0bb4:2c87 HTC (High Tech Computer Corp.) 
Bus 001 Device 083: ID 28de:2000  
Bus 001 Device 079: ID 0bb4:2134 HTC (High Tech Computer Corp.) 
Bus 001 Device 076: ID 0bb4:2744 HTC (High Tech Computer Corp.) 
Bus 001 Device 001: ID 1d6b:0002 Linux Foundation 2.0 root hub

And also ls /dev/ | grep hidraw provides:

hidraw0
hidraw1
hidraw2
hidraw3
hidraw4
hidraw5
hidraw6

(hidraw0 is already there in my computer without the HTC Vive).

awesomebytes commented 7 years ago

I found out there are some logs in ~/.local/share/Steam/logs, specifically vrclient_vrcmd.txt gets written when doing roslaunch vive_ros check_vr.launch:

Tue Dec 20 2016 20:13:32.534096 - //=====================================================================================================================
Tue Dec 20 2016 20:13:32.534172 - vrclient startup with PID=4914, type=VRApplication_Other, config=/home/sam/.local/share/Steam/config
Tue Dec 20 2016 20:13:32.543438 - Starting vrserver process: /home/sam/.local/share/Steam/steamapps/common/SteamVR/bin/linux64/vrserver
Tue Dec 20 2016 20:13:32.543657 - Unable to create shared mem to get port number for pipe VR_ServerPipe.
Tue Dec 20 2016 20:13:32.643767 - CIPCPipe::ConnectPipe(VR_ServerPipe) attempting bind to 50187
Tue Dec 20 2016 20:13:33.022047 - Received success response from vrserver connect
Tue Dec 20 2016 20:13:33.022434 - [DriverManager] Create new Resource Driver Manager
Tue Dec 20 2016 20:13:33.022898 - [Chaperone] No chaperone data. /home/sam/.local/share/Steam/config/chaperone_info.vrchap does not exist

So I copied my /media/sam/OS/Program Files (x86)/Steam/config/chaperone_info.vrchap file to /home/sam/.local/share/Steam/config/chaperone_info.vrchap just in case.

Which just removed that error when running the same again.

Now, launching roslaunch vive_ros server_vr.launch and then roslaunch vive_ros vive.launch gives an output in vrserver.txt as:

Tue Dec 20 2016 20:19:49.064387 - ================================================================================================
Tue Dec 20 2016 20:19:49.064431 - ================================================================================================
Tue Dec 20 2016 20:19:49.064481 - VR server (v0) starting up with config=/home/sam/.local/share/Steam/config
Tue Dec 20 2016 20:19:49.064538 - CIPCPipe::CreatePipe(VR_ServerPipe) bound to 42815
Tue Dec 20 2016 20:19:49.064845 - [Settings] Load Default Json Settings from /home/sam/.local/share/Steam/steamapps/common/SteamVR/resources/settings/default.vrsettings
Tue Dec 20 2016 20:19:49.064902 - [Settings] Load Default Json Settings from /home/sam/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/resources/settings/default.vrsettings
Tue Dec 20 2016 20:19:49.064940 - [Settings] Load Default Json Settings from /home/sam/.local/share/Steam/steamapps/common/SteamVR/drivers/null/resources/settings/default.vrsettings
Tue Dec 20 2016 20:19:49.065159 - [Settings] Load Json Settings from /home/sam/.local/share/Steam/config/steamvr.vrsettings
Tue Dec 20 2016 20:19:49.065220 - Unable to read app config file from /home/sam/.local/share/Steam/config/appconfig.json. No applications will be available
Tue Dec 20 2016 20:19:49.299959 - Load Json firmware manifest from /home/sam/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/firmware/manifest.vrfirmware
Tue Dec 20 2016 20:20:35.227066 - New Connect message from /home/sam/magiclab/vive_ws/devel/lib/vive_ros/vive_node (VRApplication_Scene) (Args: ) 5773 
Tue Dec 20 2016 20:20:35.227102 - Setting app system.generated.vive_node PID to 5773
Tue Dec 20 2016 20:20:35.229992 - lighthouse: Attached HID Devices:
Tue Dec 20 2016 20:20:35.230009 - lighthouse:     28DE, 2000: s/n LHR-7949E0FF: Lighthouse FPGA RX (max-input-report 0)
Tue Dec 20 2016 20:20:35.230016 - lighthouse:     28DE, 2000: s/n LHR-7949E0FF: Lighthouse FPGA RX (max-input-report 1)
Tue Dec 20 2016 20:20:35.230022 - lighthouse:     28DE, 2101: s/n B0C84D8AF1: Watchman Dongle (max-input-report 0)
Tue Dec 20 2016 20:20:35.230029 - lighthouse:     28DE, 2101: s/n 65668A3251: Watchman Dongle (max-input-report 0)
Tue Dec 20 2016 20:20:35.230036 - lighthouse:     BB4, 2C87: s/n 206637505648: HTC Vive (max-input-report 0)
Tue Dec 20 2016 20:20:35.230044 - lighthouse:     D8C, 12: s/n /dev/hidraw6: USB Audio Device (max-input-report 3)
Tue Dec 20 2016 20:20:35.283156 - lighthouse: HID opened: VID 28de PID 2000 serial LHR-7949E0FF seq 0 | if 0
Tue Dec 20 2016 20:20:35.304373 - lighthouse: LHR-7949E0FF: Read config of 3473 bytes from [vid:28de, pid:2000] (LHR-7949E0FF) and inflated to 16625 bytes
Tue Dec 20 2016 20:20:35.359228 - lighthouse: HID opened: VID 28de PID 2000 serial LHR-7949E0FF seq 0 | if 0
Tue Dec 20 2016 20:20:35.364434 - lighthouse: HMD Model: HTC Vive
Tue Dec 20 2016 20:20:35.364743 - lighthouse: Parsing LighthouseDB from file /home/sam/.local/share/Steam/config/lighthouse/lighthousedb.json
Tue Dec 20 2016 20:20:35.365290 - lighthouse: Successfully parsed Lighthouse DB rev 11 from /home/sam/.local/share/Steam/config/lighthouse/lighthousedb.json
Tue Dec 20 2016 20:20:35.367160 - lighthouse: LHR-7949E0FF H: Source: tdm disambiguator -- Preferred basestation 00000000
Tue Dec 20 2016 20:20:35.367202 - lighthouse: Enumerating displays...
Tue Dec 20 2016 20:20:35.367221 - lighthouse: SDL says there are 2 video displays
Tue Dec 20 2016 20:20:35.368224 - lighthouse: 0: 0, 15, 1920, 1080
Tue Dec 20 2016 20:20:35.368267 - lighthouse: HTC-VIVE 5": 1920, 0, 2160, 1200
Tue Dec 20 2016 20:20:35.368298 - lighthouse: Loaded Chromatic Correction Factors RED (-0.024, 0.050, -0.028, -0.006) BLUE (0.025, -0.058, 0.037, 0.008) x 0.750
Tue Dec 20 2016 20:20:35.368323 - lighthouse: LHR-7949E0FF: Attached device ID not set.  No controller input available.
Tue Dec 20 2016 20:20:35.368494 - lighthouse: TrackedCamera: OpenCamera()
Tue Dec 20 2016 20:20:35.368577 - lighthouse: TrackedCamera: Expecting drivers at '/home/sam/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64'
Tue Dec 20 2016 20:20:35.369568 - lighthouse: Attempting HID Open IMU: LHR-7949E0FF
Tue Dec 20 2016 20:20:35.427209 - lighthouse: HID opened: VID 28de PID 2000 serial LHR-7949E0FF seq 0 | if 0
Tue Dec 20 2016 20:20:35.427294 - lighthouse: Lighthouse IMU HID opened
Tue Dec 20 2016 20:20:35.427375 - lighthouse: TrackedCamera: Found Camera at USB VID:0BB4, USB PID:2C87
Tue Dec 20 2016 20:20:35.427762 - lighthouse: LHR-7949E0FF: Firmware Version 1462663157 steamservices@firmware-win32 2016-05-08 FPGA 1.6/0/0
Tue Dec 20 2016 20:20:35.428586 - lighthouse: LHR-7949E0FF: Successfully fetched gyro/accelerometer range modes from the device. GyroRangeMode:1 AccelRangeMode:1
Tue Dec 20 2016 20:20:35.428652 - lighthouse: Attempting HID Open Optical: LHR-7949E0FF
Tue Dec 20 2016 20:20:35.428884 - lighthouse: TrackedCamera: Incompatible firmware version: 131077.
Tue Dec 20 2016 20:20:35.428949 - lighthouse: InitTrackedCamera(): Failed to open expected camera on (LHR-7949E0FF). Camera services not available.
Tue Dec 20 2016 20:20:35.428969 - lighthouse: TrackedCamera: Stopping Video Stream For Camera Shutdown.
Tue Dec 20 2016 20:20:35.458693 - lighthouse: TrackedCamera: CloseCamera()
Tue Dec 20 2016 20:20:35.487196 - lighthouse: HID opened: VID 28de PID 2000 serial LHR-7949E0FF seq 0 | if 1
Tue Dec 20 2016 20:20:35.487281 - lighthouse: Lighthouse Optical HID opened
Tue Dec 20 2016 20:20:35.494446 -   driver lighthouse implements interfaces IVRSettings_002 ITrackedDeviceServerDriver_004 IVRDisplayComponent_002 IVRDriverDirectModeComponent_002 IVRControllerComponent_001 IVRCameraComponent_002 IServerTrackedDeviceProvider_003 IClientTrackedDeviceProvider_005 
Tue Dec 20 2016 20:20:35.494528 - Loaded server driver lighthouse (IServerTrackedDeviceProvider_003) from /home/sam/.local/share/Steam/steamapps/common/SteamVR/drivers/lighthouse/bin/linux64/driver_lighthouse.so
Tue Dec 20 2016 20:20:35.495266 - lighthouse: Attempting HID Open IMU: B0C84D8AF1
Tue Dec 20 2016 20:20:35.495398 - Active HMD set to lighthouse.LHR-7949E0FF
Tue Dec 20 2016 20:20:35.495848 - lighthouse: RecommendedRenderTargetSize: 1512, 1680 (viewport 1080, 1200 scaled by 1.40)
Tue Dec 20 2016 20:20:35.496027 - Processing message VRMsg_Connect from vive_node (5773) took 0.269 seconds
Tue Dec 20 2016 20:20:35.499318 - lighthouse: HID opened: VID 28de PID 2000 serial LHR-7949E0FF seq 0 | if 0
Tue Dec 20 2016 20:20:35.558828 - New Connect message from /home/sam/.local/share/Steam/steamapps/common/SteamVR/bin/linux64/vrcompositor (VRApplication_Background) (Args: ) 5809 
Tue Dec 20 2016 20:20:35.558855 - App system.generated.vrcompositor wasn't found in shared memory despite being in the map. SetApplicationPid failed
Tue Dec 20 2016 20:20:35.558870 - Using existing HMD lighthouse.LHR-7949E0FF
Tue Dec 20 2016 20:20:35.559079 - lighthouse: HID opened: VID 28de PID 2101 serial B0C84D8AF1 seq 0 | if 0
Tue Dec 20 2016 20:20:35.559099 - lighthouse: Lighthouse IMU HID opened
Tue Dec 20 2016 20:20:35.568418 - lighthouse: VerifyUSBUserDataInDirectory: /home/sam/.local/share/Steam/config/lighthouse/lhr-7949e0ff/userdata/Green_46GA16AC018677_mura_analyzes.mc validated
Tue Dec 20 2016 20:20:35.569829 - lighthouse: VerifyUSBUserDataInDirectory: /home/sam/.local/share/Steam/config/lighthouse/lhr-7949e0ff/userdata/Green_46HA16A7003623_mura_analyzes.mc validated
Tue Dec 20 2016 20:20:35.767613 - lighthouse: Attempting HID Open IMU: 65668A3251
Tue Dec 20 2016 20:20:35.823105 - lighthouse: HID opened: VID 28de PID 2101 serial 65668A3251 seq 0 | if 0
Tue Dec 20 2016 20:20:35.823131 - lighthouse: Lighthouse IMU HID opened
Tue Dec 20 2016 20:20:36.026508 - lighthouse: Returning NotYetAvailable for EdidVendorID
Tue Dec 20 2016 20:20:36.030378 - lighthouse: Attempting HID Open HMD: 
Tue Dec 20 2016 20:20:36.087164 - lighthouse: HID opened: VID 0bb4 PID 2c87 serial 206637505648 seq 0 | if 0
Tue Dec 20 2016 20:20:36.087237 - lighthouse: Lighthouse HMD HID opened
Tue Dec 20 2016 20:20:36.087879 - lighthouse: HmdDeviceConnect( 53794, 43521, 3146256, 19 )
Tue Dec 20 2016 20:20:36.126846 - lighthouse: Returning EdidVendorID D222
Tue Dec 20 2016 20:20:36.140636 - Socket closed
Tue Dec 20 2016 20:20:36.140701 - Unable to read message from socket
Tue Dec 20 2016 20:20:36.140807 - Process vrcompositor (5809) disconnected
Tue Dec 20 2016 20:20:36.194533 - Socket closed
Tue Dec 20 2016 20:20:36.194559 - Unable to read message from socket
Tue Dec 20 2016 20:20:36.194593 - Process vive_node (5773) disconnected
Tue Dec 20 2016 20:20:40.497075 - lighthouse: LHR-7949E0FF H: No base stations seen...
Tue Dec 20 2016 20:20:40.497159 - lighthouse: LHR-7949E0FF H: No optical frames in past 5 seconds
Tue Dec 20 2016 20:20:46.195907 - 0 - entering standby

Which looking closely I found:

Tue Dec 20 2016 20:20:35.428652 - lighthouse: Attempting HID Open Optical: LHR-7949E0FF
Tue Dec 20 2016 20:20:35.428884 - lighthouse: TrackedCamera: Incompatible firmware version: 131077.
Tue Dec 20 2016 20:20:35.428949 - lighthouse: InitTrackedCamera(): Failed to open expected camera on (LHR-7949E0FF). Camera services not available.
Tue Dec 20 2016 20:20:35.428969 - lighthouse: TrackedCamera: Stopping Video Stream For Camera Shutdown.
Tue Dec 20 2016 20:20:35.458693 - lighthouse: TrackedCamera: CloseCamera()

Seems like my updated camera firmware is too new maybe?

And then:

Tue Dec 20 2016 20:20:35.558828 - New Connect message from /home/sam/.local/share/Steam/steamapps/common/SteamVR/bin/linux64/vrcompositor (VRApplication_Background) (Args: ) 5809 
Tue Dec 20 2016 20:20:35.558855 - App system.generated.vrcompositor wasn't found in shared memory despite being in the map. SetApplicationPid failed

So finally things close :( :

Tue Dec 20 2016 20:20:36.140636 - Socket closed
Tue Dec 20 2016 20:20:36.140701 - Unable to read message from socket
Tue Dec 20 2016 20:20:36.140807 - Process vrcompositor (5809) disconnected
Tue Dec 20 2016 20:20:36.194533 - Socket closed
Tue Dec 20 2016 20:20:36.194559 - Unable to read message from socket
Tue Dec 20 2016 20:20:36.194593 - Process vive_node (5773) disconnected
Tue Dec 20 2016 20:20:40.497075 - lighthouse: LHR-7949E0FF H: No base stations seen...
Tue Dec 20 2016 20:20:40.497159 - lighthouse: LHR-7949E0FF H: No optical frames in past 5 seconds
Tue Dec 20 2016 20:20:46.195907 - 0 - entering standby
awesomebytes commented 7 years ago

The specific log vrclient_vive_node.txt:

Tue Dec 20 2016 20:20:35.215137 - //=====================================================================================================================
Tue Dec 20 2016 20:20:35.215180 - vrclient startup with PID=5773, type=VRApplication_Scene, config=/home/sam/.local/share/Steam/config
Tue Dec 20 2016 20:20:35.226868 - CIPCPipe::ConnectPipe(VR_ServerPipe) attempting bind to 42815
Tue Dec 20 2016 20:20:35.496091 - Received success response from vrserver connect
Tue Dec 20 2016 20:20:35.496542 - [DriverManager] Create new Resource Driver Manager
Tue Dec 20 2016 20:20:35.498702 - Unable to create shared mem to get port number for pipe VR_CompositorPipe.
Tue Dec 20 2016 20:20:35.522681 - Starting vrcompositor process: /home/sam/.local/share/Steam/steamapps/common/SteamVR/bin/linux64/vrcompositor 
Tue Dec 20 2016 20:20:35.523585 - Unable to create shared mem to get port number for pipe VR_CompositorPipe.
Tue Dec 20 2016 20:20:35.623771 - CIPCPipe::ConnectPipe(VR_CompositorPipe) attempting bind to 37677
Tue Dec 20 2016 20:20:36.140370 - Error reading from socket
Tue Dec 20 2016 20:20:36.140442 - Unable to read message from socket
Tue Dec 20 2016 20:20:36.140547 - GetNextMessage failed while waiting for message of type VRMsg_CompositorConnectResponse on pipe 
Tue Dec 20 2016 20:20:36.140581 - Invalid response to connect message. Connect failed
Tue Dec 20 2016 20:20:36.178685 - Unable to find VRDashboard at /home/sam/.local/share/Steam/steamapps/common/tools/bin/linux64/vrdashboard
Tue Dec 20 2016 20:20:36.193819 - Unable to find VRMonitor at /home/sam/.local/share/Steam/steamapps/common/tools/bin/linux64/vrmonitor
awesomebytes commented 7 years ago

I added an extra output to print the error on init and apparently my error is 307 which is VRInitError_IPC_CompositorInvalidConnectResponse

awesomebytes commented 7 years ago

My few changes are here: https://github.com/awesomebytes/vive_ros/tree/debugging

Where I mainly show some extra debugging info and I do an Init with type: 

  // VRApplication_Background - The application will not start SteamVR.
  // If it is not already running the call with VR_Init will fail with VRInitError_Init_NoServerForBackgroundApp.
  pHMD_ = vr::VR_Init( &eError, vr::VRApplication_Background );
eric-schleicher commented 7 years ago

Hi @awesomebytes sorry you're having this conversation all by yourself ;)

I'm super interested in getting this to work (lighthouse tracked objects in ROS) Were you ultimately successful? or is this the end of the trail?

awesomebytes commented 7 years ago

Unfortunately it doesn't work in Linux.

The steam part needs to be updated somehow and there is no sign anyone is working on it. :(

On Mar 18, 2017 06:17, "Eric Schleicher" notifications@github.com wrote:

Hi @awesomebytes https://github.com/awesomebytes sorry you're having this conversation all by yourself ;)

I'm super interested in getting this to work (lighthouse tracked objects in ROS) Were you ultimately successful? or is this the end of the trail?

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/robosavvy/vive_ros/issues/10#issuecomment-287447311, or mute the thread https://github.com/notifications/unsubscribe-auth/ABpFdJ4uYAxH0KjCZfGNDe__ao2ooAf1ks5rmtw1gaJpZM4LRj4c .

eric-schleicher commented 7 years ago

Even now that there is a steamVR beta on linux?

awesomebytes commented 7 years ago

Can you link me to anything explaining that? I'm on my phone but very interested.

Last time I tried was a month ago.

On Mar 18, 2017 12:43 PM, "Eric Schleicher" notifications@github.com wrote:

Even now that there is a steamVR beta on linux?

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/robosavvy/vive_ros/issues/10#issuecomment-287507793, or mute the thread https://github.com/notifications/unsubscribe-auth/ABpFdB9Ixhpli1FWXG3rrC8o2tknvEtRks5rmzbLgaJpZM4LRj4c .

eric-schleicher commented 7 years ago

and finally

If you take another swing at it keep me apprised. I'm trying this evening. build an ubuntu 16.10 machine now.

awesomebytes commented 7 years ago

Seems like quite a lot of manual configuration must be done. I'll try to give it a go probably on Monday.

I'll let you know my results thru this issue.

On Mar 18, 2017 1:01 PM, "Eric Schleicher" notifications@github.com wrote:

and finally

If you take another swing at it keep me apprised. I'm trying this evening. build an ubuntu 16.10 machine now.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/robosavvy/vive_ros/issues/10#issuecomment-287508864, or mute the thread https://github.com/notifications/unsubscribe-auth/ABpFdKu_akQsEbdudlXu6CbteCgQQhHWks5rmzsRgaJpZM4LRj4c .

eric-schleicher commented 7 years ago

@awesomebytes any update on your end? I was able to get the new linux SteamVR running on a 16.04 build that i now have ROS running on.

I'm about to try getting this library to work.

awesomebytes commented 7 years ago

I had an issue where I needed to update my Nvidia drivers for the latest version of CUDA and that stopped me from actually giving it a try. I'll try later on today when I get to the lab.

On Mar 24, 2017 07:58, "Eric Schleicher" notifications@github.com wrote:

@awesomebytes https://github.com/awesomebytes any update on your end? I was able to get the new linux SteamVR running on a 16.04 build that i now have ROS running on.

I'm about to try getting this library to work.

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/robosavvy/vive_ros/issues/10#issuecomment-288857919, or mute the thread https://github.com/notifications/unsubscribe-auth/ABpFdAvD9Yj6FIGhIEu4gJFTgFj5ET-9ks5rot0EgaJpZM4LRj4c .

spencerh-b commented 7 years ago

@awesomebytes any luck?

awesomebytes commented 7 years ago

Nope. I got the steamvr to launch but it never detects the cameras/little towers/black boxes things.

I also needed to uninstall my current Nvidia driver which made me lose CUDA too. Quite annoying. I only tried for a couple of hours, didn't dig too deep. I'll try again soon.

On Apr 2, 2017 07:34, "Spencer Barclay" notifications@github.com wrote:

@awesomebytes https://github.com/awesomebytes any luck?

— You are receiving this because you were mentioned. Reply to this email directly, view it on GitHub https://github.com/robosavvy/vive_ros/issues/10#issuecomment-290948614, or mute the thread https://github.com/notifications/unsubscribe-auth/ABpFdB5oRjffbWEn2dwmPJv6Xk-_wf_fks5rrsLYgaJpZM4LRj4c .

awesomebytes commented 7 years ago

I got it to work!

It took ages... final details was launching:

roslaunch vive_ros server_vr.launch

and

On vr_interface.cpp I needed to change the init line to:

pHMD_ = vr::VR_Init( &eError, vr::VRApplication_Background );

As vr::VRApplication_Scene crashes.

~/vive_ws/devel/lib/vive_ros$ ~/.steam/steam/ubuntu12_32/steam-runtime/run.sh `pwd`/vive_node

This last line made the LD_LIBRARY_PATH correct somehow.

You can check out a video of it working being used for a silly demo: https://www.youtube.com/watch?v=EjJop3UkKTM

I'll write up what exactly I did soon. Now I need to take a break.

Update: Trying to run it again crashes... maybe if I reboot works again, but now I'm getting:

[ERROR] [1491538492.255314195]:  [VIVE] VR_Init Failed.
[ERROR] [1491538492.255399247]:  [VIVE] With error: 
[ERROR] [1491538492.255466605]:  [VIVE] 301
[ERROR] [1491538492.255522330]:  [VIVE] VRInitError_IPC_ConnectFailed

Damn.

eric-schleicher commented 7 years ago

have you had a bit to digest this? still looking to get this running

lcluz commented 5 years ago

I think @awesomebytes. It works for me when changing to vr::VRApplication_Background. Closing this issue