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Live demo with a DAVIS camera

Start the DAVIS

First, calibrate your camera, and place the calibration file in the appropriate folder, ~/.ros/camera_info/, for example DAVIS-00000254.yaml (for DAVIS with serial number S/N 0254).

Launch the ROS core:

roscore

In a new terminal, use davis_ros_driver to start your DAVIS camera driver:

cd ~/cmax_slam_ws
catkin build davis_ros_driver
source devel/setup.bash
rosrun davis_ros_driver davis_ros_driver

This should read the calibration file corresponding to the serial number of your DAVIS camera and publish its content in topic /dvs/camera_info. It should also publish event data in the topic /dvs/events.

Run CMax-SLAM

In a new terminal, launch the node of CMax-SLAM:

cd ~/cmax_slam_ws
source devel/setup.bash
roslaunch cmax_slam live_davis.launch

See the generated panoramic edge map in rqt_image_view, which is published under the topic of /pano_map. See the live_davis launch file.