This software depends on ROS. Installation instructions can be found here. We have tested this software on Ubuntu 18.04 and ROS Melodic.
This project create a gazebo simulation evironment of a turtlebot robot with multi-sensors, including Lidar VLP-16 and event camera DVS 128. It's conveniet for some initial algorithm development in this gazebo evironment.
$ sudo apt install ros-melodic-turtlebot3*
Please follow the instructions (steps 1-9) at rpg_dvs_ros (Pay attention that you should create another ros workspace compiled with catkin build)
First cd to the collume you created in 1.2, clone the project and catkin build
$ cd ~/catkin_ws/src
$ git clone https://github.com/MichaelLu-hku/simulation
$ cd ../ && catkin build simulation
you can start the simulation now:
$ roslaunch simulation start.launch
$ roslaunch simulation dvs.launch
and you can control the motion of your turtlebot by:
rosrun turtlebot3_teleop turtlebot3_teleop_key