hrl_rfid Documentation

hrl_rfid: hrl_rfid

UHF RFID (Ultra-High Frequency Radio Frequency Identification) reader based on ThingMagic Mercury5e (M5e) and Mercury5e-Compact (M5e-C) modules. ThingMagic's highly-capable Gen2 UHF RFID modules interact with low-cost "smart labels" (tags) at distances up to 6 meters depending on choice of antennas (distances over 100 meters possible using highly-directive antennas!) even without line-of-sight visibility, as RF penetrates most non-conducting materials. The reader can simultaneously query for hundreds of tags in the environment at once or query for presence / absence of a individual tag among a sea of others. A stand-alone Python library is provided as well as ROS wrappers.

rfid is ... In addition to providing an overview of your package, this is the section where the specification and design/architecture should be detailed. While the original specification may be done on the wiki, it should be transferred here once your package starts to take shape. You can then link to this documentation page from the Wiki.


Provide links to specific auto-generated API documentation within your package that is of particular interest to a reader. Doxygen will document pretty much every part of your code, so do your best here to point the reader to the actual API.

If your codebase is fairly large or has different sets of APIs, you should use the doxygen 'group' tag to keep these APIs together. For example, the roscpp documentation has 'libros' group so that it can be viewed separately. The rospy documentation similarly has a 'client-api' group that pulls together APIs for a Client API page.


Names are very important in ROS because they can be remapped on the command-line, so it is VERY IMPORTANT THAT YOU LIST NAMES AS THEY APPEAR IN THE CODE. You should list names of every topic, service and parameter used in your code.

List of nodes:


node_name does (provide a basic description of your node)


$ node_type1 [standard ROS args]
$ node_type1


Subscribes to:

Publishes to:


Reads the following parameters from the parameter server

Sets the following parameters on the parameter server


Command-line tools

This section is a catch-all for any additional tools that your package provides or uses that may be of use to the reader. For example:


Description of what this script/file does.


$ ./script_name [args]
$ ./script_name foo bar

Author(s): Travis Deyle, Advisor: Prof. Charlie Kemp (Healthcare Robotics Lab at Georgia Tech) and Prof. Matt Reynolds (Duke University)
autogenerated on Wed Nov 27 2013 11:32:45