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[P0] UWB target tracking — DW3000 anchor/tag integration #365

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opened 2026-03-03 15:06:35 -05:00 by seb · 0 comments
seb commented 2026-03-03 15:06:35 -05:00
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Goal

Always-on bearing + distance to Tee using UWB, even when camera loses visual.

Hardware (on order, Makerfabs)

  • Order #000021793: 1x ESP32 UWB Pro w/Display (tag for Tee) + 1x ESP32 UWB Pro (anchor)
  • Order #000021764: 1x MaUWB_ESP32S3 (second anchor)
  • DW3000 + PA, 500m range, +/-10cm accuracy
  • 2 anchors on bot (spaced ~25cm for bearing estimation) + 1 wearable tag

Requirements

  • Anchor firmware: TWR ranging, publish distance to Orin via USB serial
  • Tag firmware: TWR responder, display distance/status on screen, battery powered
  • ROS2 node: /saltybot/uwb_target (bearing_deg, distance_m, confidence)
  • Bearing from 2-anchor baseline (25cm spacing gives ~5 deg resolution at 10m)
  • Must work outdoors, through occlusion, rain, crowds
  • Update rate: minimum 10Hz

Blocked by

  • Hardware delivery (ordered Mar 1-2)

Notes

  • UWB is essential at 20km/h — camera will lose target on turns, glare, occlusion
  • Tag needs battery: 18650 + TP4056 + boost converter
## Goal Always-on bearing + distance to Tee using UWB, even when camera loses visual. ## Hardware (on order, Makerfabs) - Order #000021793: 1x ESP32 UWB Pro w/Display (tag for Tee) + 1x ESP32 UWB Pro (anchor) - Order #000021764: 1x MaUWB_ESP32S3 (second anchor) - DW3000 + PA, 500m range, +/-10cm accuracy - 2 anchors on bot (spaced ~25cm for bearing estimation) + 1 wearable tag ## Requirements - Anchor firmware: TWR ranging, publish distance to Orin via USB serial - Tag firmware: TWR responder, display distance/status on screen, battery powered - ROS2 node: /saltybot/uwb_target (bearing_deg, distance_m, confidence) - Bearing from 2-anchor baseline (25cm spacing gives ~5 deg resolution at 10m) - Must work outdoors, through occlusion, rain, crowds - Update rate: minimum 10Hz ## Blocked by - Hardware delivery (ordered Mar 1-2) ## Notes - UWB is essential at 20km/h — camera will lose target on turns, glare, occlusion - Tag needs battery: 18650 + TP4056 + boost converter
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shaytac sl-controls sl-firmware sl-jetson sl-mechanical sl-perception sl-uwb sl-webui seb
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Reference: seb/saltylab-firmware#365
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