Tobii Glasses 2 interfacing for ROS2.

Provides and publishes a tobii_glasses message with the Glasses information, as well as optional tobii_glasses/camera and tobii_glasses/gaze_positionfor just those variables.

The script has many customizable variables to configure resolution, frequency, syncing mode and more

Using the amazing library Tobiiglassespysuite.

To use, clone the repository to your workspace, connect to the Toii Glasses through wifi and run:

colcon build
source install/setup
ros2 run tobii_glasses_pkg tobii_glasses.py

Alternatively, run the associated as a docker container with the provided Dockerfile

xhost +local:root

docker image build -t ros2-glass-base .

docker run -it --env="DISPLAY" --device=/dev/video0:/dev/video0 -e DISPLAY=$DISPLAY --env="QT_X11_NO_MITSHM=1" --volume="/tmp/.X11-unix:/tmp/.X11-unix:rw" --privileged --net=host -v /home/ema/Documents/ROS2_Workspaces/:/home/username/workspaces -v /dev/shm:/dev/shm ros2-glass-base

export containerId=$(docker ps -l -q)