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sl-firmware 9a68dfdb2e feat(uwb): MaUWB ESP32-S3 DW3000 dual-anchor bearing driver (Issue #90 )

## Summary
- saltybot_uwb_msgs: add UwbBearing.msg, add tag_id to UwbRange.msg,
  register UwbBearing in CMakeLists.txt
- ranging_math.py: add bearing_from_pos(x, y) helper (atan2-based)
- uwb_driver_node.py: dual-rate architecture
    • 100 Hz /uwb/ranges  — raw TWR ranges with tag_id attribution
    • 10 Hz  /uwb/bearing — Kalman-fused bearing + range estimate
    • enrolled_tag_ids parameter for tag pairing filter
    • AT+RANGE_ADDR=<tag> pairing command on connect
- uwb_config.yaml: range_rate / bearing_rate / enrolled_tag_ids params
- uwb.launch.py: expose new params as launch arguments
- test_ranging_math.py: 7 new bearing_from_pos unit tests

Closes #90

Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>

2026-03-01 23:25:08 -05:00

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