# dexcap_rb

**Repository Path**: Bianca-CHEN/dexcap_rb

## Basic Information

- **Project Name**: dexcap_rb
- **Description**: No description available
- **Primary Language**: Unknown
- **License**: Not specified
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2026-03-25
- **Last Updated**: 2026-04-02

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

first commit
## Overview
1. `vr_ros_bridge` bridges SteamVR on Windows and a Docker-based ROS runtime. It publish 6 DoF data of Vive Tracker through UDP in form of ROS Topics.  

## to do
1. extract Tracker data without headset
- 2026.03.26 still working on it
- could change modifications and citations
    delete --> self.compositor = openvr.VRCompositor()
    change  poses, _ = self.compositor.waitGetPoses(poses, None)
    to -->  poses = self.system.getDeviceToAbsoluteTrackingPose(
            openvr.TrackingUniverseStanding,
            0.0,
            openvr.k_unMaxTrackedDeviceCount
            )
2. expand to 3 tracker
  Server

    if len(trackers) < 3:
    continue

    for idx, (device_index, _) in enumerate(trackers[:3], start=1):

  Client

    self.pose_publishers = { 'tracker_3': self.create_publisher(PoseStamped, '/vr_tracker_3/pose', 10),}


## ros topic
/vr_tracker_1/pose
/vr_tracker_2/pose
## UDP name
tracker_1/tracker_2