diff --git a/RWR/src/read_event_pub/.vscode/c_cpp_properties.json b/RWR/src/read_event_pub/.vscode/c_cpp_properties.json
new file mode 100644
index 0000000000000000000000000000000000000000..174f9f869e988ab28d5f5dac9d23bfee59ba9ee6
--- /dev/null
+++ b/RWR/src/read_event_pub/.vscode/c_cpp_properties.json
@@ -0,0 +1,49 @@
+{
+ "configurations": [
+ {
+ "browse": {
+ "databaseFilename": "",
+ "limitSymbolsToIncludedHeaders": true
+ },
+ "includePath": [
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/devel/include/**",
+ "/opt/ros/noetic/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_dvs_ros/davis_ros_driver/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_dvs_ros/dvs_calibration/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_dvs_ros/dvs_renderer/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_dvs_ros/dvs_ros_driver/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_dvs_ros/dvxplorer_ros_driver/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/eigen_checks/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/esim/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/esim_common/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/esim_data_provider/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/esim_rendering/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/esim_trajectory/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/esim_unrealcv_bridge/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/esim_visualization/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/imp_bridge_opencv/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/imp_bridge_ros/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/imp_core/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/imp/imp_multi_objects_2d/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/imp/imp_opengl_renderer/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/imp/imp_panorama_renderer/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/imp/imp_planar_renderer/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/rpg_esim/event_camera_simulator/imp/imp_unrealcv_renderer/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/minkindr/minkindr/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/minkindr_ros/minkindr_conversions/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/spot_micro_motion_cmd/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/ze_cameras/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/ze_common/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/ze_matplotlib/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/ze_pangolin/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/ze_ros/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/ze_splines/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/ze_vi_simulation/include/**",
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/src/ze_oss/ze_visualization/include/**",
+ "/usr/include/**"
+ ],
+ "name": "ROS"
+ }
+ ],
+ "version": 4
+}
\ No newline at end of file
diff --git a/RWR/src/read_event_pub/.vscode/settings.json b/RWR/src/read_event_pub/.vscode/settings.json
new file mode 100644
index 0000000000000000000000000000000000000000..3da6490dbf799af539196a6b4c338c68a9475450
--- /dev/null
+++ b/RWR/src/read_event_pub/.vscode/settings.json
@@ -0,0 +1,10 @@
+{
+ "python.autoComplete.extraPaths": [
+ "/home/chris/3rdYear/RWR/Robot-With-Reflexes/RWR/devel/lib/python3/dist-packages",
+ "/opt/ros/noetic/lib/python3/dist-packages"
+ ],
+ "files.associations": {
+ "*.ipp": "cpp"
+ },
+ "C_Cpp.errorSquiggles": "Disabled"
+}
\ No newline at end of file
diff --git a/RWR/src/read_event_pub/CMakeLists.txt b/RWR/src/read_event_pub/CMakeLists.txt
new file mode 100644
index 0000000000000000000000000000000000000000..dabb2c5762e84858500ba73e103b74d5228ef10e
--- /dev/null
+++ b/RWR/src/read_event_pub/CMakeLists.txt
@@ -0,0 +1,29 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(read_event_pub)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+ dvs_msgs
+ roscpp
+ rospy
+ std_msgs
+)
+
+catkin_package()
+
+include_directories(
+ ${PROJECT_SOURCE_DIR}/include
+ ${catkin_INCLUDE_DIRS}
+)
+
+add_executable(event_array_sub src/event_array_sub.cpp)
+
+add_dependencies(event_array_sub
+ ${${PROJECT_NAME}_EXPORTED_TARGETS}
+ ${catkin_EXPORTED_TARGETS}
+)
\ No newline at end of file
diff --git a/RWR/src/read_event_pub/include/event_array_sub.hpp b/RWR/src/read_event_pub/include/event_array_sub.hpp
new file mode 100644
index 0000000000000000000000000000000000000000..a1caec74a59efcdd779245112ee17b873fd1930e
--- /dev/null
+++ b/RWR/src/read_event_pub/include/event_array_sub.hpp
@@ -0,0 +1,34 @@
+#pragma once
+
+#include <ros/ros.h>
+#include <esim/common/utils.hpp>
+#include <dvs_msgs/Event.h>
+#include <dvs_msgs/EventArray.h>
+
+#define EVENT_ARRAY_PUBLISHERS 3
+#define EVENT_ARRAY_SUBSCRIBERS 1
+
+class EventArraySub
+{
+ public:
+ EventArraySub(ros::NodeHandle & nh);
+ ~EventArraySub();
+
+ struct EventDetection {
+ ros::Publisher events_[2];
+ double xy_means_[1];
+ size_t msgSz;
+ };
+
+
+
+ private:
+ ros::NodeHandle nh_;
+ ros::Subscriber event_sub_;
+
+ EventDetection event_detection_stats_;
+
+ void publishEventDetection();
+ void eventsCallback(const dvs_msgs::EventArray::ConstPtr& msg);
+
+};
\ No newline at end of file
diff --git a/RWR/src/read_event_pub/package.xml b/RWR/src/read_event_pub/package.xml
new file mode 100644
index 0000000000000000000000000000000000000000..6abe9d05c97bddfe95d3256e15aa5b78fcd8cb00
--- /dev/null
+++ b/RWR/src/read_event_pub/package.xml
@@ -0,0 +1,71 @@
+<?xml version="1.0"?>
+<package format="2">
+ <name>read_event_pub</name>
+ <version>0.0.0</version>
+ <description>The read_event_pub package</description>
+
+ <!-- One maintainer tag required, multiple allowed, one person per tag -->
+ <!-- Example: -->
+ <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+ <maintainer email="chris@todo.todo">chris</maintainer>
+
+
+ <!-- One license tag required, multiple allowed, one license per tag -->
+ <!-- Commonly used license strings: -->
+ <!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+ <license>TODO</license>
+
+
+ <!-- Url tags are optional, but multiple are allowed, one per tag -->
+ <!-- Optional attribute type can be: website, bugtracker, or repository -->
+ <!-- Example: -->
+ <!-- <url type="website">http://wiki.ros.org/read_event_pub</url> -->
+
+
+ <!-- Author tags are optional, multiple are allowed, one per tag -->
+ <!-- Authors do not have to be maintainers, but could be -->
+ <!-- Example: -->
+ <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+ <!-- The *depend tags are used to specify dependencies -->
+ <!-- Dependencies can be catkin packages or system dependencies -->
+ <!-- Examples: -->
+ <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+ <!-- <depend>roscpp</depend> -->
+ <!-- Note that this is equivalent to the following: -->
+ <!-- <build_depend>roscpp</build_depend> -->
+ <!-- <exec_depend>roscpp</exec_depend> -->
+ <!-- Use build_depend for packages you need at compile time: -->
+ <!-- <build_depend>message_generation</build_depend> -->
+ <!-- Use build_export_depend for packages you need in order to build against this package: -->
+ <!-- <build_export_depend>message_generation</build_export_depend> -->
+ <!-- Use buildtool_depend for build tool packages: -->
+ <!-- <buildtool_depend>catkin</buildtool_depend> -->
+ <!-- Use exec_depend for packages you need at runtime: -->
+ <!-- <exec_depend>message_runtime</exec_depend> -->
+ <!-- Use test_depend for packages you need only for testing: -->
+ <!-- <test_depend>gtest</test_depend> -->
+ <!-- Use doc_depend for packages you need only for building documentation: -->
+ <!-- <doc_depend>doxygen</doc_depend> -->
+ <buildtool_depend>catkin</buildtool_depend>
+ <build_depend>dvs_msgs</build_depend>
+ <build_depend>roscpp</build_depend>
+ <build_depend>rospy</build_depend>
+ <build_depend>std_msgs</build_depend>
+ <build_export_depend>dvs_msgs</build_export_depend>
+ <build_export_depend>roscpp</build_export_depend>
+ <build_export_depend>rospy</build_export_depend>
+ <build_export_depend>std_msgs</build_export_depend>
+ <exec_depend>dvs_msgs</exec_depend>
+ <exec_depend>roscpp</exec_depend>
+ <exec_depend>rospy</exec_depend>
+ <exec_depend>std_msgs</exec_depend>
+
+
+ <!-- The export tag contains other, unspecified, tags -->
+ <export>
+ <!-- Other tools can request additional information be placed here -->
+
+ </export>
+</package>
diff --git a/RWR/src/read_event_pub/src/event_array_sub.cpp b/RWR/src/read_event_pub/src/event_array_sub.cpp
new file mode 100644
index 0000000000000000000000000000000000000000..83592c02b71ae789d4cd9d197fc96f3899a90a21
--- /dev/null
+++ b/RWR/src/read_event_pub/src/event_array_sub.cpp
@@ -0,0 +1,56 @@
+#include <ros/ros.h>
+#include <std_msgs/Float32.h>
+#include <std_msgs/UInt32.h>
+#include "event_array_sub.hpp"
+
+namespace event_array_sub {
+EventArraySub::EventArraySub(ros::NodeHandle & nh) : nh_(nh)
+{
+ event_detection_stats_.events_[0] = nh_.advertise<std_msgs::Float32>("event_avg_x", 1);
+ event_detection_stats_.events_[1] = nh_.advertise<std_msgs::Float32>("event_avg_y", 1);
+ event_detection_stats_.events_[2] = nh_.advertise<std_msgs::UInt32>("event_msg_sz", 1);
+
+ event_sub_ = nh_.subscribe("events", 1, &EventArraySub::eventsCallback, this);
+}
+
+EventArraySub::~EventArraySub()
+{}
+
+void eventsCallback(const dvs_msgs::EventArray::ConstPtr& msg)
+{
+ EventArraySub::EventDetection event_detection_stats_;
+
+ size_t msgSz = msg->events.size();
+
+ ROS_INFO_STREAM("Number of particles="<<msgSz);
+
+ double avg_x = 0;
+ double avg_y = 0;
+ for (int i(0); i < msgSz; ++i)
+ {
+ ROS_INFO_STREAM("X=" << msg->events[i].x);
+ ROS_INFO_STREAM("Y=" << msg->events[i].y;);
+ ROS_INFO_STREAM("pol=" << msg->events[i].polarity);
+
+ avg_x = avg_x + msg->events[i].x;
+ avg_y = avg_y + msg->events[i].y;
+ }
+
+ avg_x = avg_x / msgSz;
+ avg_y = avg_y / msgSz;
+
+ event_detection_stats_.xy_means_[0] = avg_x;
+ event_detection_stats_.xy_means_[1] = avg_y;
+ event_detection_stats_.msgSz = msgSz;
+
+ publishEventDetection(); //not sure why this fails
+}
+
+void EventArraySub::publishEventDetection()
+{
+ event_detection_stats_.events_[0].publish(event_detection_stats_.xy_means_[0]);
+ event_detection_stats_.events_[1].publish(event_detection_stats_.xy_means_[1]);
+ event_detection_stats_.events_[2].publish(event_detection_stats_.msgSz);
+}
+
+} //namespace
\ No newline at end of file