nurlando04 / Event-based-tactile-sensor

Event-based-tactile-sensor

This project detects non-coliding objects using event-based camera and then sends coordinates of their center to ROS topic.

First of all you need to download metavision SDK libraries following the instructions from the Prophesee official page

Requirements

• Ubuntu 20.04 or 18.04
• ROS Noetic or ROS Melodic
• Metavision Essentials 2.1

Installation

• Clone the source code to your catkin workspace

      cd catkin_ws/src
      git clone https://github.com/nurlando04/Event-based-tactile-sensor
      cd ..
  

• Compile

      catkin_make
  

• Source the workspace

      source ~/catkin_ws/devel/setup.bash
  

Getting Started

You simply need to rosrun the C++ file

rosrun tracking prophesee_ros_spatter

If you want to tune the camera you can add that option and add path to the bias file

rosrun tracking prophesee_ros_spatter -b ~/catkin_ws/src/tracking/out.bias 

Instructions on how to create the bias can be found here