Prophesee ROS Stereo Driver

This metapackage contains ROS stereo driver based on a wrapper around Metavision SDK Driver module. It offers the follosing ROS nodes:

prophesee_ros_stereo_publisher - publishing data from Prophesee sensors to ROS topics
prophesee_ros_stereo_viewer - listening data from ROS topics and visualizing them on a screen

Supported Prophesee EVK:

stereo event-based only

Installation

First of all, you would need to install dependencies, such as Metavision SDK:

Request an access to Knowledge Center, if not done yet. To get an access, fill the webform and provide us a short description of your research project.
Sign up for a trial version of Metavision SDK, if not done yet.
Install Metavision SDK following the instructions on Knowledge Center.

Then, compile GitHub code:

Clone the source to your catkin workspace ( create a workspace, if needed)

    cd catkin_ws/src
    git clone https://github.com/prophesee-ai/prophesee_ros_wrapper.git
    git clone https://github.com/prophesee-ai/prophesee_ros_stereo_driver.git
    cd ..

Compile
```
    catkin_make
```

Source the workspace

    source ~/catkin_ws/devel/setup.bash

Getting Started

The package contains the following ROS nodes:

prophesee_ros_stereo_publisher
prophesee_ros_stereo_viewer

Data publisher

To publish data from Prophesee stereo camera to ROS topics:

Update serial numbers of your stereo cameras in prophesee_stereo_publisher.launch file (if not done yet)
- Find the serial numbers of your cameras
  - either on the camera itself (only the last digits are given, therefore, complete them with zeros up to 8 digits)
  - or via metavision_platform_info tool
- Update the serial numbers in prophesee_stereo_publisher.launch file using any editor
launch the Stereo Publisher

      roslaunch prophesee_ros_stereo_driver prophesee_stereo_publisher.launch

The following topics will be published:

/prophesee/camera_left/camera_info - info about the left camera
/prophesee/camera_left/cd_events_buffer - buffer of CD (Change Detection) events from the left camera
/prophesee/camera_right/camera_info - info about the right camera
/prophesee/camera_right/cd_events_buffer - buffer of CD (Change Detection) events from the right camera

Data viewer

To visualize data from ROS topics:

      roslaunch prophesee_ros_stereo_driver prophesee_stereo_viewer.launch

Contact