<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
  <name>saltybot_uwb_position</name>
  <version>0.1.0</version>
  <description>
    ROS2 UWB position node for Jetson (Issue #546).
    Reads JSON range data from an ESP32 DW3000 UWB tag over USB serial,
    trilaterates from 3+ fixed infrastructure anchors, publishes
    PoseStamped on /saltybot/uwb/pose, per-anchor UwbRange on
    /saltybot/uwb/range/&lt;id&gt;, JSON diagnostics on /saltybot/uwb/status,
    and broadcasts the uwb_link→map TF2 transform.
  </description>
  <maintainer email="sl-perception@saltylab.local">sl-perception</maintainer>
  <license>MIT</license>

  <buildtool_depend>ament_python</buildtool_depend>

  <depend>rclpy</depend>
  <depend>geometry_msgs</depend>
  <depend>std_msgs</depend>
  <depend>tf2_ros</depend>
  <depend>saltybot_uwb_msgs</depend>

  <!-- numpy is a system dep on Jetson (python3-numpy) -->
  <exec_depend>python3-numpy</exec_depend>

  <test_depend>ament_copyright</test_depend>
  <test_depend>ament_flake8</test_depend>
  <test_depend>ament_pep257</test_depend>
  <test_depend>python3-pytest</test_depend>

  <export>
    <build_type>ament_python</build_type>
  </export>
</package>
