DV ROS2

ROS2 drivers and sample nodes for iniVation cameras and DV software infrastructure.

Installation on Ubuntu OS

The code depends on DV software libraries. Enable the iniVation PPA for your Ubuntu distribution:

sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo add-apt-repository ppa:inivation-ppa/inivation
sudo apt update
sudo apt install dv-processing dv-runtime-dev gcc-13 g++-13

Some extra ROS2 dependencies are also needed:

sudo apt install python3-rosdep python3-colcon-common-extensions ros-humble-camera-info-manager ros-humble-tf2-sensor-msgs ros-dev-tools

Clone the repository and build:

mkdir -p ~/dv_ws/src && cd ~/dv_ws/src
git clone git@github.com:grasp-lyrl/dv-ros2-wrapper.git
cd ~/dv_ws
rosdep install --from-paths src/dv-ros2-wrapper --ignore-src -r -y
colcon build --symlink-install --parallel-workers 4 \
             --cmake-args -DCMAKE_BUILD_TYPE=Release \
                          -DCMAKE_C_COMPILER=gcc-13 \
                          -DCMAKE_CXX_COMPILER=g++-13

Verifying the build

After the build, source your environment, connect your iniVation camera, and validate by running the capture driver:

source ~/dv_ws/install/local_setup.bash
ros2 launch dv_ros2_capture driver.launch.py

You should see events and IMU frames streaming from the connected iniVation camera.

Compatibility

The message types for events are designed to be compatible with types available in rpg_dvs_ros, enabling communication with nodes developed using those event message types (Event and EventArray).

Repository structure

The dv-ros2-wrapper directory inside this repository contains the following packages:

• dv_ros2_msgs - Basic message types for iniVation cameras (events, frames, IMU, triggers)
• dv_ros2_messaging - C++ headers for using dv-processing within ROS2 nodes
• dv_ros2_capture - Camera driver node supporting live streaming from iniVation cameras
• dv_ros2_visualization - Simple event stream visualization node