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ROS 2 driver for an iniVation event camera

iniVation DAVIS240C driver for ROS 2.

Prerequirements

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

Install

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

Davis Driver

Usage

source install/setup.bash
ros2 launch davis_ros2 driver.launch.xml

Topics

Output (Default)

Name Type Description
~/output/event ev_msgs::msg::EventArray Event information acquired by the event camera.　　
~/output/image sensor_msgs::msg::Image Camera information acquired by the event camera.

Events Viewer

Usage

source install/setup.bash
ros2 launch event_viewer event_viewer.launch.xml

Topics

Input (Default)

Name Type Description
~/input/event ev_msgs::msg::EventArray Event information to be converted into images.

Output (Default)

Name Type Description
~/output/image sensor_msgs::msg::Image Image with projected event information.

Q&A

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.)