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feat(social-bot): UWB integration — MaUWB ESP32-S3 driver + TWR + dual-anchor bearing #90

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opened 2026-03-01 22:56:29 -05:00 by sl-jetson · 0 comments
sl-jetson commented 2026-03-01 22:56:29 -05:00
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Summary

UWB driver for social-bot navigation: MaUWB ESP32-S3 DW3000 on Orin, TWR ranging, dual-anchor bearing estimation, tag pairing.

Requirements

  • Driver: ESP32-S3 serial/USB driver on Orin, parse TWR range measurements
  • TWR protocol: Two-Way Ranging for distance to each UWB tag
  • Dual-anchor bearing: Estimate bearing to target from 2+ anchors on robot
  • Tag pairing: Associate UWB tag with enrolled person (wearable tag)
  • ROS2 topics: /uwb/ranges (UwbRangeArray), /uwb/bearing (bearing estimate)
  • Update rate: 100Hz ranging, 10Hz fused bearing
  • Integration: Feed into person state tracker and navigation

Agent: sl-jetson

Labels: social-bot, navigation

## Summary UWB driver for social-bot navigation: MaUWB ESP32-S3 DW3000 on Orin, TWR ranging, dual-anchor bearing estimation, tag pairing. ## Requirements - **Driver**: ESP32-S3 serial/USB driver on Orin, parse TWR range measurements - **TWR protocol**: Two-Way Ranging for distance to each UWB tag - **Dual-anchor bearing**: Estimate bearing to target from 2+ anchors on robot - **Tag pairing**: Associate UWB tag with enrolled person (wearable tag) - **ROS2 topics**: /uwb/ranges (UwbRangeArray), /uwb/bearing (bearing estimate) - **Update rate**: 100Hz ranging, 10Hz fused bearing - **Integration**: Feed into person state tracker and navigation ## Agent: sl-jetson ## Labels: social-bot, navigation
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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#90
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