feat: Add Issue #365 — UWB DW3000 anchor/tag tracking (bearing + distance)
Software-complete implementation of the two-anchor UWB ranging stack.
All ROS2 / serial code written against an abstract interface so tests run
without physical hardware (anchors on order).
New message
- UwbTarget.msg: valid, bearing_deg, distance_m, confidence,
anchor0/1_dist_m, baseline_m, fix_quality (0=none 1=single 2=dual)
Core library — _uwb_tracker.py (pure Python, no ROS2/runtime deps)
- parse_frame(): ASCII RANGE,<id>,<tag>,<mm> protocol decoder
- bearing_from_ranges(): law-of-cosines 2-anchor bearing with confidence
(penalises extreme angles + close-range geometry)
- bearing_single_anchor(): fallback bearing=0, conf≤0.3
- BearingKalman: 1-D constant-velocity Kalman filter [bearing, rate]
- UwbRangingState: thread-safe per-anchor state + stale timeout + Kalman
- AnchorSerialReader: background thread, readline() interface (real or mock)
ROS2 node — uwb_node.py
- Opens /dev/ttyUSB0 + /dev/ttyUSB1 (configurable)
- Non-fatal serial open failure (will publish FIX_NONE until plugged in)
- Publishes /saltybot/uwb_target at 10 Hz (configurable)
- Graceful shutdown: stops reader threads
Tests — test/test_uwb_tracker.py: 64/64 passing
- Frame parsing: valid, malformed, STATUS, CR/LF, mm→m conversion
- Bearing geometry: straight-ahead, ±45°, ±30°, symmetry, confidence
- Kalman: seeding, smoothing, convergence, rate tracking
- UwbRangingState: single/dual fix, stale timeout, thread safety
- AnchorSerialReader: mock serial, bytes decode, stop()
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
sl-perception
0ecf341c57