Use this node to perform indoor zone location using the metraTec IPS tracking system. Prerequisites for using this node
is a running receiver-node that handles communication with the receiver and thus with the beacons in the vicinity.
Also, make sure that you have defined your zones correctly in the YAML config file.
Subscribed topics:
- ips/receiver/raw (indoor_positioning/StringStamped):
Raw messages received by the UWB receiver
Published topics:
- ips/receiver/current_zone/name (indoor_positioning/StringStamped):
Name of the zone the receiver is currently in
- ips/receiver/current_zone/polygon (geometry_msgs/PolygonStamped):
Polygon comprising the current zone
- ips/receiver/zone_leave (indoor_positioning/StringStamped):
Name of the zone that the receiver has left. Is published at the moment a zone-leave occurs
- ips/receiver/zone_enter (indoor_positioning/StringStamped):
Name of the zone that the receiver has entered. Is published at the moment a zone-enter occurs
Parameters:
- ~config_file (string, default='PKG_DIR/config/zones.yml'):
Path to the configuration file of zones and beacons relative to the package directory
- ~rate (double, default=1):
The publishing rate in messages per second
- ~bcn_len (int, default=2*number_of_beacons):
Buffer length for BCN messages