ros_dwm1001

A ROS package containing a hardware driver for Decawave's DWM1001 Development Board and a ROS node wrapper that exposes the sensor driver to the ROS ecosystem.

Overview

The hardware driver for the DWM1001 sensor is ROS-agnostic, meaning it provides a clean functional interface to the sensor that can be used on any system independent of ROS. The driver utilizes UART over a USB connection for serial communication between the sensor and OS. Additionally, the ROS node simply wraps around the driver and connects the sensor data to ROS topics.

Prerequisites

Software

• Ubuntu 16.04 (Xenial)
• ROS Kinetic

Hardware

• Decawave's DWM1001 Development Kit (x5 recommended: 1 tag, 4 anchors)

Installation

Install from Git Repository

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
git clone --single-branch --branch kinetic-devel https://github.com/joeyjyyang/ros_dwm1001.git
cd ..
sudo apt-get install -y
rosdep install --from-paths src --ignore-src --rosdistro=kinetic -y
catkin_make # catkin build ros_dwm1001 (if using catkin_tools)
source devel/setup.bash
rospack profile

Setup

Nodes

• dwm1001_node

Topics

Messages

Usage

Example

roslaunch ros_dwm1001 dwm1001_uwb.launch

Notes

Contact

• Author and Maintainer: Joey Yang
• Email: joeyyang.ai@gmail.com
• GitHub: https://github.com/joeyjyyang
• LinkedIn: https://www.linkedin.com/in/joey-yang