positioning_plus.IPSplus Class Reference

Public Member Functions
def	__init__ (self)
def	callback (self, msg)
def	estimate_position (self)
def	publish (self)

Public Attributes
	bcn_buffer
	bcn_buffer_length
	bcn_last_time
	frame_id
	position_pub
	positioning
	rate
	receiver_send_pub
	receiver_sub
	srg_buffer
	srg_buffer_length
	srg_last_time
	srg_wait
	tf

Static Public Attributes
float	srg_sleep = 0.1
int	srg_timeout = 20

Detailed Description

Configure ROS node for metraTec IPS+ indoor positioning system with UWB ranging functionality.

Definition at line 45 of file scripts/positioning_plus.py.

Constructor & Destructor Documentation

def positioning_plus.IPSplus.__init__

(

self

)

Initialize instance variables with values from ROS parameter server (or default values) and zone/beacon
configuration from YAML file.

Definition at line 51 of file scripts/positioning_plus.py.

Member Function Documentation

def positioning_plus.IPSplus.callback	(		self,
			msg
	)

Append incoming messages to list of previous message. Differentiate between BCN messages (regular beacon pings)
and SRG messages (responses of UWB ranging responses)
:param msg: String, message of subscribed topic

Definition at line 99 of file scripts/positioning_plus.py.

def positioning_plus.IPSplus.estimate_position

(

self

)

Estimate the position of the receiver using UWB ranging responses.
:return: [Float, Float, Float]: estimated position of the UWB receiver [x, y, z]

Definition at line 137 of file scripts/positioning_plus.py.

def positioning_plus.IPSplus.publish

(

self

)

Publish the estimated position of the receiver

Definition at line 123 of file scripts/positioning_plus.py.

Member Data Documentation

positioning_plus.IPSplus.bcn_buffer

Definition at line 78 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.bcn_buffer_length

Definition at line 76 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.bcn_last_time

Definition at line 80 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.frame_id

Definition at line 94 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.position_pub

Definition at line 69 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.positioning

Definition at line 64 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.rate

Definition at line 97 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.receiver_send_pub

Definition at line 71 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.receiver_sub

Definition at line 73 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.srg_buffer

Definition at line 85 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.srg_buffer_length

Definition at line 83 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.srg_last_time

Definition at line 87 of file scripts/positioning_plus.py.

float positioning_plus.IPSplus.srg_sleep = 0.1

static

Definition at line 48 of file scripts/positioning_plus.py.

int positioning_plus.IPSplus.srg_timeout = 20

static

Definition at line 49 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.srg_wait

Definition at line 89 of file scripts/positioning_plus.py.

positioning_plus.IPSplus.tf

Definition at line 92 of file scripts/positioning_plus.py.

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The documentation for this class was generated from the following file:

• scripts/positioning_plus.py