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ROS2 UWB position node (serial bridge from tag to Jetson) #546

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opened 2026-03-14 09:54:47 -04:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-14 09:54:47 -04:00
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Implement ROS2 node on Jetson that reads UWB tag serial output and publishes position.

Requirements:

  • Read JSON range data from ESP32 UWB tag over USB serial
  • Trilateration from 3+ anchor ranges to compute (x, y, z) position
  • Publish geometry_msgs/PoseStamped on /saltybot/uwb/pose
  • Publish sensor_msgs/Range per anchor on /saltybot/uwb/range/<anchor_id>
  • TF2 broadcast: uwb_link frame relative to map
  • Configurable anchor positions via ROS2 params YAML
  • Outlier rejection (discard ranges outside expected bounds)
  • Diagnostic: publish /saltybot/uwb/status with anchor health

Deliverables:

  • ROS2 Python package: saltybot_uwb_position
  • Launch file with configurable serial port and anchor positions
  • Params YAML template
  • Integration notes for Nav2 localization fusion

Assigned to: sl-uwb

Implement ROS2 node on Jetson that reads UWB tag serial output and publishes position. **Requirements:** - Read JSON range data from ESP32 UWB tag over USB serial - Trilateration from 3+ anchor ranges to compute (x, y, z) position - Publish geometry_msgs/PoseStamped on /saltybot/uwb/pose - Publish sensor_msgs/Range per anchor on /saltybot/uwb/range/<anchor_id> - TF2 broadcast: uwb_link frame relative to map - Configurable anchor positions via ROS2 params YAML - Outlier rejection (discard ranges outside expected bounds) - Diagnostic: publish /saltybot/uwb/status with anchor health **Deliverables:** - ROS2 Python package: saltybot_uwb_position - Launch file with configurable serial port and anchor positions - Params YAML template - Integration notes for Nav2 localization fusion Assigned to: sl-uwb
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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#546
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