std_msgs/Header header
bool    valid                # false when no recent UWB fix
float32 bearing_deg          # horizontal bearing to tag (°, right=+, left=−)
float32 distance_m           # range to tag (m); arithmetic mean of both anchors
float32 confidence           # 0.0–1.0; degrades when anchors disagree or stale

# Raw per-anchor two-way-ranging distances
float32 anchor0_dist_m       # left anchor (anchor index 0)
float32 anchor1_dist_m       # right anchor (anchor index 1)

# Derived geometry
float32 baseline_m           # measured anchor separation (m) — used for sanity check
uint8   fix_quality          # 0=no fix 1=single-anchor 2=dual-anchor