This package is to simulate the UWB range measurements in ROS environment. Generated data published to “uwb_data_topic”
The file that contains the UWB anchor information is in "launch/uwb_anchors_set.launch" file. It is possible to add or remove the UWB anchors as you like.
Note : uwb tag frame name should be as follows uwb_anchor_0, uwb_anchor_1, uwb_anchor_2 ...
Location of the tag has been taken from the robot position so to use this information "modelstate_index" parameter (for turtlebot3 modelstate_index =2) which is in "launch/uwb_simulation_initializing.launch" file must set correctly depending on the robot model used. It is possible to find your own robot parameter in "gazebo/model_states" topic.
Use the command below in terminal to start it with default settings
roslaunch pozyx_simulation uwb_simulation_initializing.launch
Name of the publisher topic is "uwb_data_topic". You can check it by using the command below in terminal
rostopic echo /uwb_data_topic
Message type consists of 3 different arrays
1. anchors name => int64[] destination_id
2. anchors distance to robot => float64[] distance
3. time stamp => time[] stamp
If you want to start manually with custom maps. You can change map and map configuration in maps folder and start manually with the codes below.
rosrun map_server map_server map.yaml rosrun rviz rviz rosrun pozyx_simulation uwb_simulation.py
Noise has been added to the every UWB ranging data
np.random.normal(0, uwb_dist*0.015,1)