iniVation DAVIS240C driver for ROS 2.
Ubuntu 22.04 LTS, ROS 2 Humble
sudo add-apt-repository ppa:inivation-ppa/inivation
sudo apt-get update
sudo apt-get install libcaer-dev
mkdir -p ros2_ws/src && cd ros2_ws/src
git clone https://github.com/knorrrr/davis_ros2.git
cd ..
colcon build --symlink-install --cmake-args -DCMAKE_BUILD_TYPE=Release
source install/setup.bash
ros2 launch davis_ros2 driver.launch.xml
Name | Type | Description |
---|---|---|
~/output/event |
ev_msgs::msg::EventArray |
Event information acquired by the event camera.ใใ |
~/output/image |
sensor_msgs::msg::Image |
Camera information acquired by the event camera. |
source install/setup.bash
ros2 launch event_viewer event_viewer.launch.xml
Name | Type | Description |
---|---|---|
~/input/event |
ev_msgs::msg::EventArray |
Event information to be converted into images. |
Name | Type | Description |
---|---|---|
~/output/image |
sensor_msgs::msg::Image |
Image with projected event information. |
Q. To increase the hz of /davis/events
A. Declease max_container_interval in Dynamic Reconfigure.
(If this parameter is lowered too much, the frame(/davis/image_waw) becomes unstable.)