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ROS2 wrapper for iniVation event cameras using dv-processing.

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# DV ROS2 Jazzy

This repository is a fork of an original ROS2 wrapper for inivation cameras [dv-ros2](https://github.com/Telios/dv-ros2). This repository has been updated to work with ROS2 Jazzy and dv-processing Version 2.0.3.1. This README has been updated for this fork, but subsequent READMEs inside packages are unchanged from the original repository as no functionality has changed.

This package contains ROS2 wrappers for iniVation cameras. The package is based on the [dv-ros](https://gitlab.com/inivation/dv/dv-ros) repository and has been adapted to work with ROS2 Jazzy. The package is still under development and some features are not yet implemented. This project is not affiliated with iniVation AG.

## Installation

Tested on Ubuntu 24.04 with ROS2 Jazzy. Only confirmed to work with dv-processing Version 2.0.3.1

First, clone the repository.
    
```
git clone https://github.com/GBrayshaw/dv-ros2.git
```

### Docker

Tested with Docker version 28.1.1 using the following commands to build from scratch:

Compose image.

```
docker compose -f docker/docker-compose.yml build
```

Launch into image shell.

```
docker compose -f docker/docker-compose.yml run --rm dv-ros2 bash
```

Build workspace within container.

```
cd /ros2_ws
source /opt/ros/jazzy/setup.bash
colcon build
```

#### Note: When using docker, visualisation packages will not work with headless installs.

### Dependencies
Install dependencies using the following commands:

```
sudo add-apt-repository ppa:ubuntu-toolchain-r/test
sudo add-apt-repository ppa:inivation-ppa/inivation
sudo apt update
sudo apt-get install dv-processing cmake dv-runtime-dev gcc-13 g++-13 libopencv-dev libeigen3-dev libcaer-dev libfmt-dev liblz4-dev libzstd-dev libssl-dev
```

### Build

Build the package using the following commands:

```
source /opt/ros/jazzy/setup.bash
colcon build
```

### Run

To test the camera driver, run the following commands:

```
source install/setup.bash
ros2 launch dv_ros2_visualization all.launch.py
```
A GUI should open with the 4 different camera streams.

To simply launch a window to visualise the event stream from the camera, run the following commands:

```
source install/setup.bash
ros2 launch dv_ros2_visualization visualization.launch.py
```

### Repository structure

The repository contains multiple projects:

- `dv_ros2_msgs`: Basic msg and srv definitions for the ROS2 interface.
- `dv_ros2_messaging`: C++ headers required to use dv-processing in ROS2.
- `dv_ros2_capture`: Camera driver node (supports live camera data streaming and aedat4 file playback)
- `dv_ros2_accumulation`: Event stream to frame/edge accumulation
- `dv_ros2_aedat4`: Convert aedat4 files to rosbags 
- `dv_ros2_runtime_modules`: DV runtime modules for integration with ROS
- `dv_ros2_visualization`: Simple visualization of events
- `dv_ros2_tracker`: Lucas-Kanade feature trackers for event and image streams

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