ros_decawave

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

Dependencies

$ pip install pyserial
$ pip install struct

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

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

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

Run the launch:

$ roslaunch ros_decawave decawave_driver.launch

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