Positioning System based on Decawave's DWM1001 Ultra Wide Band transceivers.
$ pip install pyserial
$ pip install struct
$ apt install ros-kinetic-hector-trajectory-server
Setup the tag and the anchors using the Android app, and connected the tag using an USB cable to PC.
Download this repo into the ros workspace and compile:
$ cd src/
$ git clone https://github.com/verlab/ros_decawave.git
$ cd ..
$ catkin_make ## or catkin build
Run the launch:
$ roslaunch ros_decawave decawave_driver.launch
$ rostopic list
/pose # tag position
/rosout
/rosout_agg
/status # anchors status
/syscommand
/tf
/tf_static
/trajectory # tag path