DV ROS2

This package contains ROS2 wrappers for iniVation cameras. The package is based on the dv-ros repository and has been adapted to work with ROS2. The package is still under development and some features are not yet implemented. This project is not affiliated with iniVation AG.

Installation

Tested on Ubuntu 22.04 with ROS2 Humble. First, clone the repository.

git clone https://github.com/Telios/dv-ros2.git

For ease of use, build the packages with docker:

cd docker && docker compose up
xhost +local:docker
docker compose up

Otherwise, follow the instructions below.

Dependencies

Install dependencies using the following commands:

sudo add-apt-repository ppa:inivation-ppa/inivation
sudo apt-get update
sudo apt-get install dv-processing cmake boost-inivation libopencv-dev libeigen3-dev libcaer-dev libfmt-dev liblz4-dev libzstd-dev libssl-dev

Build

Build the package using the following commands:

source /opt/ros/humble/setup.bash
colcon build

Run

To test the camera driver, run the following commands:

source install/setup.bash
ros2 launch dv_ros2_visualization all.launch.py

A GUI should open with the 4 different camera streams.

Repository structure

The repository contains multiple projects:

• dv_ros2_msgs: Basic msg and srv definitions for the ROS2 interface.
• dv_ros2_messaging: C++ headers required to use dv-processing in ROS2.
• dv_ros2_capture: Camera driver node (supports live camera data streaming and aedat4 file playback)
• dv_ros2_accumulation: Event stream to frame/edge accumulation
• dv_ros2_aedat4: Convert aedat4 files to rosbags
• dv_ros2_runtime_modules: DV runtime modules for integration with ROS
• dv_ros2_visualization: Simple visualization of events
• dv_ros2_tracker: Lucas-Kanade feature trackers for event and image streams