iidre_uwb_indoor_geoloc

ROS 1 package for Indoor Geolocalisation with Ultra wideband (UWB) anchors from IIDRE.

Quickstart

Part A: Configure anchors and create the map

1. Connect an UWB sensor to an USB port of your ROS computer
2. Power up at least 4 UWB anchors through MicroUSB and place them at the edges of a room (make it easy to measure distances between them)
3. Build & launch uwbSupervisor, you should see realtime distance data from the 4 anchors and an incorrect map of them
4. Click Import infra (flash) and save the infra file with the .json extension
5. Manually open the previous infra JSON file, decide of a world frame in the room and measure distances between anchors to update X, Y, Z positions of anchors (in centimeters)
6. Click Export infra (flash), select the edited infra JSON file, and wait a few dozens of seconds for the modal message "export positions: 4"
7. In the uwbSupervisor, check that the top view of the map looks correct, in terms of anchors (black points) and sensor (red point)

Part B: Publish to ROS

Launch the UWB publisher:

roslaunch iidre_uwb_indoor_geoloc publish.launch

If you use several sensors, you may customize the USB port, world frame id, child frame id, with optional parameters:

roslaunch iidre_uwb_indoor_geoloc publish.launch publish_anchors:=false name:=robot frame_id:=base_link

Build notepad for Ubuntu

Error Unknown module(s) in QT: serialport

sudo apt install libqt5serialport5-dev

module "QtCharts" is not installed

sudo apt install qml-module-qtcharts qml-module-qtquick-dialogs
sudo apt install qml-module-qt-labs-settings qml-module-qt-labs-folderlistmodel