Add hand joints tf publishing functionality #3
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…from world to oculus_head
… Thumb0 inside joints_transforms
… inverting to avoid problem caused by singular matrix when no hand is detected
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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. |
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@Jendker Thanks for your response! Before verification, please feel free to keep it as the PR. Also, any advice on the changes are welcome! |
…stead of controllers
…ntrollers are tracked
…ch of the corresponding ros topic
…o init_head tf frame
…o world, set default world rotation with x pointing forward, z upward
…ey h exists inside transformation dictionary
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I think it could be nice to have a version of this code without the ROS, some user like me used this packages without it. |
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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:
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.