This repo contains a ROS2 driver for the Qorvo DWM1001 Indoor Positioning System - ported from a forked version of the ros-dwm1001-uwb-localization repository and with additional features added such as:

• tty port detection based on device serial numbers and device chip names
• math packages for usage of multiple devices for corrected heading.

This package was ported to ROS2 for use in the CARMA 1tenth scaled-down cooperative driving automation program. The code has been tested in Ubuntu 20.04/ROS2 Foxy.

Clone this repo into your ROS2 workspace and build it with:

colcon build --symlink-install --packages-select dwm1001_ros2

Install python dependencies with

sudo pip install pyserial

This package assumes that the DWM1001-dev device is connected by USB. Additionally, CARMA 1tenth vehicles have multiple devices connected over USB - and the tty port of the device may not always be the same. A parameter file will need to be modified with the intended device's serial number and device description. To find these values:

1. connect the dwm1001-dev device to your computer
2. run the following command in the terminal:

python -m serial.tools.list_ports -v

The device description will be the value following desc:. The serial number will be the value following SER=.