# UwbBearing.msg — 10 Hz Kalman-fused bearing estimate from dual-anchor UWB.
#
# bearing_rad : horizontal bearing to tag in base_link frame (radians)
#               positive = tag to the left (CCW), negative = right (CW)
#               range: -π .. +π
# range_m     : Kalman-filtered horizontal range to tag (metres)
# confidence  : quality indicator
#                 1.0 = both anchors fresh
#                 0.5 = single anchor only (bearing less reliable)
#                 0.0 = stale / no data (message not published in this state)
# tag_id      : enrolled tag identifier that produced this estimate

std_msgs/Header header

float32 bearing_rad
float32 range_m
float32 confidence
string  tag_id
