Oculus Navigation Subsystem

The Oculus Navigation subsystem provides robot positioning and orientation tracking using an Oculus Quest VR headset. This system enables high-precision robot navigation and positioning by leveraging the Oculus Quest's advanced tracking capabilities.

Constructor and Configuration

The subsystem is constructed with an OculusIO interface implementation:

public OculusSubsystem(OculusIO io)

The io parameter can be either: - OculusIOReal for real hardware operation - OculusIOSim for simulation testing

Commands

The following commands interact with the Oculus subsystem:

• Ping Command - Tests communication with the headset
• Reset Pose Command - Resets the headset's position tracking
• Zero Heading Command - Zeros the headset's rotation tracking

Required Configuration

1. Software Setup:

   • QuestNav must be deployed and running on the Oculus Quest headset

2. Physical Setup:

   • Oculus Quest headset must be mounted securely to the robot
   • Headset position relative to robot center must be configured in OculusConstants.OCULUS_TO_ROBOT

Reference Documentation

Full JavaDoc reference: Package Documentation