ros_decawave

Positioning System based on Decawave's DWM1001 Ultra Wide Band transceivers.

Dependencies

Python Dependencies

$ pip install pyserial
$ pip install struct

ROS Dependencies

$ apt install ros-kinetic-hector-trajectory-server

Tutorial

Pre-Setup

Setup the tag and the anchors using the Android app, and connected the tag using an USB cable to PC.

Download and Compilation

Download this repo into the ros workspace and compile:

$ cd src/
$ git clone https://github.com/verlab/ros_decawave.git
$ cd ..
$ catkin_make ## or catkin build

Using

Run the launch:

$ roslaunch ros_decawave decawave_driver.launch

Topics

$ rostopic list
/pose # tag position
/rosout
/rosout_agg
/status # anchors status
/syscommand
/tf 
/tf_static
/trajectory # tag path