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Prophesee ROS Wrapper

Event-based vision by Prophesee

The aim of this metapackage is wrapping event-based data from Prophesee sensors using OpenEB software and publishing the event-based data to ROS.

This metapackage contains ROS wrapper (prophesee_ros_driver) and messages (prophesee_event_msgs) for Prophesee sensors.

prophesee_ros_driver is a ROS wrapper including the following nodes:

prophesee_event_msgs package contains ROS message types for Prophesee event-based data, including:

Supported Prophesee Evaluation Kit Cameras :

Requirements

Installation

First, retrieve and compile OpenEB.

Then, compile the packages:

Getting Started

Publishing data from a camera and listening to them

To publish data from Prophesee camera to ROS topics, run:

roslaunch prophesee_ros_driver prophesee_publisher.launch

The following topics will be published:

To listen data from ROS topics and visualize them:

roslaunch prophesee_ros_driver prophesee_viewer.launch

Recording data from a live camera to rosbag

To record data from live camera to rosbag:

Publishing data from a RAW file

To publish data from RAW file to ROS topics and view the data:

At the end of the RAW file, the publisher will stop on its own, but the viewer won't stop, so it's up to you to quit the viewer.

Recording data from a RAW file to rosbag

To record data from RAW file to rosbag:

Going Further

The ROS wrapper we propose in this repo is a minimal example to get you started. There are multiple ways to enhance it in terms of features and performance. The code is open to contributions, thus do not hesitate to propose pull requests.

We also recommend you to check the metavision_ros_driver repo from berndpfrommer that offers a ROS driver for event-based cameras with some speed and features enhancements.

Contact

In case of any issue, please raise an issue here on GitHub. For any other information contact us.