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DWM1001 Launch Package

This ROS 2 package contains launch files for the DWM1001 indoor location sensor.

Launch Files

There are three launch files for the DWM1001:

  • active_node.launch.py - Starts an active node that would normally be used with a robot, or other ROS2 enabled device. It publishes the location data for physically attached DWM1001 sensor.
  • passive_node.launch.py - Fires up a passive node that listens to all location reports and publishes them within ROS2 topics.
  • transform_node.launch.py - Starts the node that performs transforms from the dwm1001 frame to the map frame. You will need this node if you plan to use something like robot_localization.

Active Node Launch

Launch parameters:

  • tag_namespace: If you want to change the namespace, set this parameter to what you want but make sure your config yaml file matches! See the default example to see how to structure your configuration file. Default value is active.
  • config_file: The name of the config file you want to use. It must be in the ROS2 workspace under this package's config folder. Default value is default_active.yaml.

Passive Node Launch

Launch parameters:

  • tag_namespace: If you want to change the namespace, set this parameter to what you want but make sure your config yaml file matches! See the default example to see how to structure your configuration file. Default value is passive.
  • config_file: The name of the config file you want to use. It must be in the ROS2 workspace under this package's config folder. Default value is default_passive.yaml.

Transform Node Launch

Launch parameters:

  • tag_topic: This is the topic you want remapped to the transform node's input/tag_position topic. The default happens to be one of the tags used in the HIVE lab, output/DW5188.

Parameter Files

All parameter files should be contained in the config directory. At this time, if you want to make a custom deployment, you need to create a new yaml file that has your desired namespace instead of default. Then, you invoke your launch file with

ros2 launch active_node.launch.py tag_namespace:=<custom name> config_file:=<custom config yaml>