This repo simplifies and extends the interfaces provided by https://github.com/20chix/dwm1001_ros.git, with nodes for both active and passive UWB tags. The code has been tested under Ubuntu 16.04/ROS Kinetic and Ubuntu 18.04/ROS Melodic only.

This instructions are for Ubuntu 18.04 with ROS Melodic already installed.

Clone this repo into your catkin_ws (the code below creates a new catkin workspace named uwb_ws in your home folder):

mkdir -p  ~/uwb_ws/src && cd ~/uwb_ws/src
git clone https://github.com/TIERS/ros-dwm1001-uwb-localization.git

and install dependencies

sudo apt install python-dev python-pip
sudo -H python -m pip install --upgrade pip
sudo -H python -m pip install pyserial

Then build the workspace. We recommend using catkin build. Install it if needed with

sudo apt install python-catkin-tools

then run

cd ~/uwb_ws
catkin init
catkin build

Follow the steps in Decawave's DRTLS Guide to setup a DRTLS system with at least 3 anchors and 1 active tag.

We recommend setting the tag's position update rate to 10 Hz in stationary mode too.

This repository contains ROS nodes written in Python to interface with the two types of UWB Tags running Decawave's default RTLS firmware. The nodes communicate with the tags throught Decawave's UART API.

• The node dwm1001_active.py obtains position information of all the anchors in the DRTLS system within range, the distances to them and the tag position.

• The node dwm1001_passive.py gives the positions of all other active tags in the DRTLS system.

The active tags publishes anchor positions to /dwm1001/anchor/AN*/position, and its own position and distances to anchors to /dwm1001/tag/tag_name/position and /dwm1001/tag/tag_name/to/anchor/AN*/distance, respectively. The _tag_name is given as a parameter.

Then simply run for an active tag (after checking which port it is connected to, usually starting from /dev/ttyACM0):

source ~/uwb_ws/devel/setup.bash
rosrun dwm1001_uwb_tag_drivers dwm1001_active _port:=/dev/ttyACMX/ _tag_name:="your_tag_name"

or for a passive tag:

rosrun dwm1001_uwb_tag_drivers dwm1001_passive _port:=/dev/ttyACMX/

with the corresponding port where the UWB tag is connected. The tag_name is only used for the topic names.