Gazebo 6 and above supports the Oculus Rift VR headset DK1 and DK2.
After this tutorial, you will be able to attach a virtual Oculus Camera to one of the visual links of your model.
Follow the next instructions to install the Oculus SDK version that we prepared for Gazebo.
sudo apt-get install libusb-dev libudev-dev libxinerama-dev hg clone https://bitbucket.org/osrf/oculussdk cd oculussdk mkdir build cd build cmake .. -DCMAKE_INSTALL_PREFIX=/usr make sudo make install sudo cp ../LibOVR/90-oculus.rules /etc/udev/rules.d/ sudo udevadm control --reload-rules
Once Oculus VR SDK is installed, you should be able to compile Gazebo from source with Oculus Rift support.
Follow these instructions to compile Gazebo. During the execution of the
cmake command, you should see this message confirming that the Oculus SDK is found:
-- checking for module 'OculusVR' -- found OculusVR, version 0.4.4
Before starting Gazebo, we must tell it to create a new window which will be rendered by the Oculus headset.
Before turning on the Oculus headset, on Ubuntu, go to
System Tools >
Plug in and turn on your Oculus Rift headset. Note that your main launcher might have moved to the headset. You should make sure the Oculus window is positioned correctly:
We need to tell Gazebo where we put the Oculus screen, that is, on the
top-right of the main display. The horizontal coordinate will be the end of
the main monitor (
x = monitor width) and the vertical coordinate will be the
top of the screen (
y = 0).
Open up your favourite editor and edit the
~/.gazebo/gui.ini file with
the following content:
[geometry] x=0 y=0 [oculus] x=<REPLACE_BY_YOUR_HORIZONTAL_RESOLUTION> y=0 visual=<REPLACE_BY_THE_VISUAL_LINK_ATTACHED_TO_OCULUS> autolaunch=0
x with the value of the horizontal resolution of your monitor,
visual with the name of the visual which the Oculus Rift will be
As an example, this is the content of our
[geometry] x=0 y=0 [oculus] x=2560 y=0 visual=camera::link::visual autolaunch=0
In a terminal, run the
cd ~/oculussdk ./oculusd
In a second terminal, run Gazebo
Once Gazebo is up and running, click on Window->Oculus Rift and you should be able to see the world from your Oculus headset.
It is also possible to enable the Oculus window by default when starting Gazebo. Modify the
gui.ini file and set
autolaunch=1. Now, start gazebo and your Oculus Rift should be working without any intervention: