The point cloud output from the PR2's Kinect Camera is being rendered onto the Oculus. Person wearing the Oculus controls the head movement of PR2 by moving his head in the left and right direction. Our scene consists of a sphere in the centre and two cylindres on left and right side. First video shows the person wearing the Oculus moving his head in left and right direction and the second video shows the corresponding movement of PR2's head in the Gazebo simulator.

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

 

References

• Oculus VR - https://developer.oculus.com

• Leap Motion VR - https://www.leapmotion.com/product/vr

• Oculus RIFT in Action - http://www.manning.com/bdavis/

• PR2 Surrogate - http://wiki.ros.org/pr2_surrogate