vr_linker¶

This is the node which connects the Meta Quest 3 VR headset to the ROS 2 ecosystem. It hosts a TCP socket server the headset can connect to. Data received here gets sent to the ROS 2 ecosystem.

Subscribed topics

robot_data (RobotData): The robot data received from the robot.
arm_angles (ArmAngles): The arm angles received from the robot.
depth_data (DepthData): The depth data received from the robot.
vr_mode (VRMode): The VR mode data received from the robot.
vr_arm (VRArm): The VR arm data received from the robot.
vr_drive (VRDrive): The VR drive data received from the robot.
message (Message): Message to be logged including level.

Published topics

_vr_drive (VRDrive): The VR drive data received from the headset.
_vr_arm (VRArm): The VR arm data received from the headset.
_vr_mode (VRMode): The VR mode data received from the headset.
_vr_screw (VRScrew): The VR screw data received from the headset.
message (Message): Message to be logged including level.

vr_linker node¶

class robot.src.vr_linker.vr_linker.vr_linker_node.VRLinkerNode(*args: Any, **kwargs: Any)¶

listen() → None¶: Listens for incoming connections and messages.

client_disconnected(e) → None¶

Handles the case when the client disconnects.

Parameters:: e – Exception message

cleanup()¶: Cleans up the node.

robot.src.vr_linker.vr_linker.vr_linker_node.main(args=None)¶

vr_linker¶

class robot.src.vr_linker.vr_linker.vr_linker.AnyMessage¶

class robot.src.vr_linker.vr_linker.vr_linker.VRLinker(node)¶

static _to_json(data: dict | bytes) → str | bytes¶

Converts data to JSON.

Parameters:: data – data to convert
Returns:: JSON data as dict or bytes

_is_vr_connected() → bool¶

Checks if the VR headset is connected.

Returns:: True if the VR headset is connected

_send(data: dict) → None¶

Sends data over the TCP socket.

Parameters:: data – data

_send_compressed(data: dict) → None¶

Sends compressed data over the TCP socket.

Parameters:: data – data

static _get_vector_data(msg, key: str) → list[float]¶

Gets the x, y, z data from a vector message.

Parameters:

msg – message
key – key to get data from

Returns:

x, y, z data

static _get_content_any_msg_type(msg) → dict¶

Gets the content of a message of any type.

Parameters:: msg – ROS 2 message
Returns:: message content as dict

handle_log_backup(msg) → None¶

Receives a message of any type and sends to VR headset as a backup.

Parameters:: msg – message

handle_robot_data(msg) → None¶

Receives RobotData messages and sends over socket.

Parameters:: msg – RobotData message

handle_arm_angles(msg) → None¶

Receives ArmAngles messages and sends over socket.

Parameters:: msg – ArmAngles message

handle_depth_data(msg) → None¶

Receives DepthData messages and sends over socket.

Parameters:: msg – DepthData message

process_message() → None¶: Processes a message sent by the VR headset over TCP socket.

static _is_vr_arm_message(data: dict) → bool¶

Checks if the message is a VRArm message.

Parameters:: data – data
Returns:: True if the message is a VRArm message

static _is_vr_drive_message(data: dict) → bool¶

Checks if the message is a VRDrive message.

Parameters:: data – data
Returns:: True if the message is a VRDrive message

static _is_screw_message(data: dict) → bool¶

Checks if the message is a mode message.

Parameters:: data – data
Returns:: True if the message is a mode message

static _is_mode_message(data: dict) → bool¶

Checks if the message is a mode message.

Parameters:: data – data
Returns:: True if the message is a mode message

_publish_vr_arm(data: dict) → None¶

Publishes VRArm messages.

Parameters:: data – data

_publish_vr_drive(data: dict) → None¶

Publishes VRDrive messages.

Parameters:: data – data

_publish_ping(data: dict) → None¶

Publishes ping messages.

Parameters:: data – data

_publish_mode(data: dict) → None¶

Publishes mode messages.

Parameters:: data – data

_publish_screw(data: dict) → None¶

Publishes screw messages.

Parameters:: data – data

_publish_get_depth() → None¶

Publishes get depth messages.

Parameters:: data – data

static _is_drive_mode(data: dict) → bool¶

Checks if the message is a drive mode message.

Parameters:: data – data
Returns:: True if the message is a drive mode message

static _is_get_depth_message(data: dict) → bool¶

Checks if the message is a get depth message.

Parameters:: data – data
Returns:: True if the message is a get depth message

_set_drive_mode(data: dict) → None¶

Sets the driving mode.

Parameters:: data – data

static _is_ping_message(data: dict) → bool¶

Checks if the message is a ping message.

Parameters:: data – data
Returns:: True if the message is a ping message

_publish_data(data: dict) → None¶

Publishes VRDrive messages.

Parameters:: data – data

utils¶

robot.src.vr_linker.vr_linker.utils.get_config() → dict¶

Reads the config file.

Returns:: config

robot.src.vr_linker.vr_linker.utils.get_arm_timeout_seconds() → float¶

Returns the arm timeout in seconds.

Returns:: timeout in seconds