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mcr_uwb package from cyberdog_tracking_base repobt_navigators mcr_bringup mcr_controller mcr_global_planner mcr_msgs mcr_planner mcr_tracking_components mcr_uwb mcr_voice |
Package Summary
| Tags | No category tags. |
| Version | 1.0.0 |
| License | Apache-2.0 |
| Build type | AMENT_CMAKE |
| Use | RECOMMENDED |
Repository Summary
| Checkout URI | https://github.com/miroboticslab/cyberdog_tracking_base.git |
| VCS Type | git |
| VCS Version | rolling |
| Last Updated | 2023-10-07 |
| Dev Status | UNMAINTAINED |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
TODO
Additional Links
No additional links.
Maintainers
- zhangchuanfa
Authors
No additional authors.
#mcr_uwb
UWB原始数据协议如下：
topic name: uwb_raw
topic type: protocol/msg/UwbRaw.msg
UwbRaw:
std_msgs/Header header
float32 dist //m
float32 angle //rad
float32 n_los
float32 rssi_1
float32 rssi_2
UwbRaw原始数据转换为PoseStamped:
geometry_msgs::msg::PoseStamped pose;
pose.header = uwb->header;
RCLCPP_DEBUG(
get_logger(), "received uwb raw data, frame id: %s, dist: %f, angle: %f.",
uwb->header.frame_id.c_str(), uwb->dist, uwb->angle);
pose.pose.position.x = uwb->dist * cos(-uwb->angle);
pose.pose.position.y = uwb->dist * sin(-uwb->angle);
数据转换完成之后，在后续数据使用上，根据位置关系利用tf transformer进行调整。
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_common | |
| ament_lint_auto | |
| rclcpp | |
| rclcpp_lifecycle | |
| nav2_util | |
| protocol | |
| geometry_msgs | |
| builtin_interfaces | |
| tf2_ros | |
| cyberdog_debug | |
| cyberdog_common |
System Dependencies
No direct system dependencies.
Dependant Packages
No known dependants.
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged mcr_uwb at Robotics Stack Exchange
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