README
This repository includes several tools and ROS nodes to process FTM ranging values.
The nodes included in the repository are:
- ESP32S2FTMReader This node reads the frames from a FTM communication between a ESP32 S2 and another FTM device.
Dependencies
GTEC ROS TOA package has the next dependencies:
- gtec_msgs Another GTEC ROS project with a set o custom messages definitions. Available https://github.com/valentinbarral/rosmsgs
Additionally, the ESP32 S2 must be loaded with the code available here: https://github.com/valentinbarral/esp32s2-ftm-tag
Building the nodes
To build the nodes, source code must be cloned inside a catkin workspace on a ROS installation (see Creating a workspace for catkin). If the catkin work space is located at ~/catkin_ws
then:
$ cd ~/catkin_ws/src
$ git clone https://github.com/valentinbarral/rosftm.git
Then catkin_make
must be used to build the nodes:
$ cd ~/catkin_ws
$ catkin_make
Launching the nodes
There are several .launch files in the project to launch the nodes using the roslaunch
command.
Launching ESP32S2FTMReader node:
$ roslaunch gtec_ftm esp32s2ftmtagreader.launch
The launcher accepts the parameter serial, that points to the port where the ESP32 is connected. By default: /dev/ttyUSB0.