This repository holds ROS1 and ROS2 tools for backwards compatibility of the event_camera_msgs format with the older dvs_msgs and prophesee_event_msgs formats. Future use of dvs_msgs and prophesee_event_msgs is discouraged as they have large storage requirements, cause high CPU load under ROS2, and perform poorly in high event rate scenarios (both under ROS1 and ROS2)
ROS2 is supported for ROS2 Humble and later distros. ROS1 is EOL but the ROS1 code is left in this repository and may still compile. Pull requests for fixes against the ROS1 code will be accepted but no new features.
Set the following shell variables:
repo=event_camera_legacy_tools
url=https://github.com/ros-event-camera/${repo}.gitand follow the instructions here
The republish node converts event_camera_msgs to legacy formats
like dvs, prophesee, and decoded ("mono") event_camera messages. Note
that this node will consume a significant amount of CPU
resources and should not be run unnecessarily while recording data.
The following command will start a conversion node to republish
events from /event_camera/events to
/event_camera/republished_events and
/event_camera/republished_triggers
(see launch file for remapping):
ros2 launch event_camera_legacy_tools republish_composable.launch.py camera:=event_camera message_type:=event_packetConvert bags with DVS or Prophesee messages to evt3 event_camera_msgs:
ros2 run event_camera_legacy_tools legacy_to_bag -b <input_bag_file> -o <output_bag_file> -t <topic1>[topic2 topic3 ...]This software is issued under the Apache License Version 2.0.