oculus_driver.py 文件源码

def run(self):
        r = rospy.Rate(10)
        while not rospy.is_shutdown():
            d = self.hmd.poll()
            if len(d) != 4:
                continue

            pose = Pose()
            pose.orientation = Quaternion(d[0], d[1], d[2], d[3])

            euler = euler_from_quaternion(d)
            pose.position = Point(euler[0], euler[1], euler[2])

            self.pub.publish(pose)
            r.sleep()