wangyang24 / gazebo_dvs_plugin-1

A DVS plugin for Gazebo

gazebo_dvs_plugin

This Gazebo plugin simulates a DVS

The code is modified from: https://github.com/HBPNeurorobotics/gazebo_dvs_plugin which you should look at for instruction on how to install and how to use

I used the code above for the interface with gazebo. I made some improvements (or at least think so):

• correct the event generation model (no logarithm anywhere in their version)
• linear interpolation of the time so the events are not simply at the time of the last frame
• possibility to save the events in a csv file

Add this two sdf elements between plugin /plugin to save file <save_csv>true</save_csv> <csv_address>/home/.../events.csv</csv_address>

PROBLEMS Too many cycles Dynamic allocation of memory can be improved

BUILD catkin build dvs_gazebo_plugin

SEE https://github.com/idsc-frazzoli/gazebo_dvs_plugin