nlink_uwb_tools

This repo is a collection of ros packages for LinkTrack UWB, containing the main Linktrack package, dependencies and message serialize tool.

Install

Clone

Under catkin_ws/src

git clone --recursive [email protected]:DIT-ROBOTICS/nlink_uwb_tools.git

Install

Under catkin_ws/src

cd nlink_uwb_tools/serial

Under catkin_ws/src/nlink_uwb_tools/serial

make; sudo make install

cd ../../..

Under catkin_ws

catkin_make

Note: catkin_make is recommended, catkin build or catkin_make_isolated is NOT tested well.

ttyUSB permission

Check device connected

ll /dev | grep ttyUSB

If I/O issue, make sure USB permission is r/w-able.

try

sudo usermod -a -G dialout $USER

Add the user into dialout group to get permission permanently on most hosts.

Run

Default linktrack.0 is working on ttyUSB0, and run the serial node and UWB node.

Default linktrack.1 is working on ttyUSB1, and run the DEserial node and UWB node.

roslaunch msg_serialize linktrack.0.launch

roslaunch msg_serialize linktrack.1.launch

Nodes

1. twist_serialization

Convert twist to a serialized string, publish to UWB and transmit.

1. Subscribe Topic

   cmd_vel (geometry_msgs/Twist)

2. Publish Topic

   serialized_msg (std_msgs/String)

3. twist_deserialization

Receive a serialized string from UWB, and convert the serialized string back to the twist.

1. Subscribe Topic

   node_frame (nlink_parser/LinktrackNodeframe0)

2. Publish Topic

   cmd_vel (geometry_msgs/Twist)