13.3. Event Cameras

13.3.1. Driver

Note

This is a getting-started-quickly guide, more complete instructions are documented in the repository’s README.

Define the workspace path

$ WS_DIR="$HOME/ros2_underlay/src"

go to the workspace

$ cd $WS_DIR

clone the repository and its dependencies

$ git clone https://github.com/ros-event-camera/libcaer_driver.git \
&& vcs import < libcaer_driver/libcaer_driver.repos

Install the remaining dependencies

$ rosdep-underlay

Build

$ build_underlay

Repower USB

After booting the camera is often not found. Switching off and on again fixes the problem.

This can be done with uhubctl.

Installation

$ git clone https://github.com/mvp/uhubctl.git \
&& cd uhubctl \
&& make \
&& sudo make install

Off

$ sudo uhubctl -l 2 -a 0

On

$ sudo uhubctl -l 2 -a 1

Launch

$ ros2 launch libcaer_driver driver_node.launch.py device_type:=dvxplorer

13.3.2. Renderer

Only required to visualize the event camera data as frames. Not required to be installed on the Raspberry Pi.

Define the workspace path

$ WS_DIR="$HOME/ros2_underlay/src"

go to the workspace and clone the repository and its dependencies

$ cd $WS_DIR \
&& git clone https://github.com/ros-event-camera/event_camera_renderer.git \
&& vcs import < event_camera_renderer/event_camera_renderer.repos

Install the remaining dependencies

$ rosdep-underlay

Build

$ build_underlay

Launch

$ ros2 launch event_camera_renderer renderer.launch.py camera:=uuv02/event_camera