GTEC-UDC/rosftm

ROS package with FTM ranging readers from diferent FTM devices like ESP32 S2

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.