Razer Hydra Startup Instructions - NickAlunni/PR2_Teleop_Research GitHub Wiki

  1. Plug in the Razer Hydra and have a Pr2 running or a simulated Pr2 running.

  2. Navigate to the razer hydra directory
    cd arc-ros-dev/razer_hydra

  3. Run a script to determine the device number of the hydra that is plugged in
    python determine_

  4. Put that number into the parameter of the hydra launch file
    roslaunch hydra.launch device:=/dev/hidraw#NUMBER#

  5. Stop the Hydra driver (yes, I know it's stupid)

  6. Rerun step 3, this is due to an error in the current Hydra Driver

  7. Run the following launch script that stops the Cartesian controllers running on the Pr2
    roslaunch arc_pr2_teleop cart.launch

  8. Run the following script to start the controller for the Pr2
    Nick: roslaunch pr2_hydra_dev pr2_analog_gripper_control.launch
    Calder: rosrun arc_pr2_teleop pr2_hydra_teleop_unsafe.py

  9. Run whatever else you need, in the case of my work it's the tactile feedback for the hydra
    roslaunch feedback_devices pr2_feedback_humanoids.launch

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