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The oculus_rivz_plugins package displays the 3D view in rviz within the oculus rift, allows the user to move their head to change the orientation of the view, and publishes the /oculus TF frame representing the pose of the oculus.

It's been released on ROS Indigo, but it should work reasonably well on later versions of ROS too.

The wiki page provides only minimal documentation; you can learn more by reading the source code on github and by reading the issues in their issue tracker

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