atlas_rtls

Overview

This is the ATLAS Real-Time Localization System (RTLS). ATLAS is based on ultra-wideband using the time-difference of arrival (TDOA) topology in which the mobile nodes transmit periodically and the infrastructure-based nodes are mostly passive.

Keywords:

License

The source code of the localization is released under BSD 3-Clause license.

Authors: Janis Tiemann, Yehya Elmasry

Maintainer: Janis Tiemann, janis.tiemann@tu-dortmund.de

Affiliation: Communication Networks Institute (CNI), TU Dortmund University

The atlas_rtls package has been tested under ROS Kinetic and Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Installation

Building from Source

Dependencies

Robot Operating System (ROS) (middleware for robotics),
Eigen (linear algebra library)
```
  sudo apt-get install libeigen3-dev
```

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/tudo-cni-atlas/atlas_rtls.git
cd ../
catkin_make -j1

Usage

Due to the numerous configuration files that are required to run the ATLAS RTLS, a seperate deployment-specific config repository is needed. An example is provided here: Example config and raw data

The firmware for the nodes will be provided upon completion of academic review.

Nodes

atlas_node_bridge

Connects an anchor node through the serial protocol interface.

atlas_core

Collects the TOA messages from multiple node bridges and assembles samples.

atlas_loc

Calculates position results from the sample messages of the atlas core.

atlas_fast

Provides scheduling for ATLAS FaST enabled mobile tags.

atlas_viz

Enables visualization of the anchor nodes within rviz.

Bugs & Feature Requests

Please report bugs and request features using the Issue Tracker.

Insane-neal/atlas_rtls