sl-uwb
587ca8a98e
feat: UWB anchor auto-calibration via inter-anchor ranging + MDS (Issue #602)
Anchor firmware (esp32/uwb_anchor/src/main.cpp):
- Add peer_range_once(peer_id) — DS-TWR initiator role toward a peer anchor
- Add AT+PEER_RANGE=<id> command: triggers inter-anchor ranging and returns
+PEER_RANGE:<my_id>,<peer_id>,<range_mm>,<rssi_dbm> (or ERR,TIMEOUT)
ROS2 package saltybot_uwb_calibration_msgs:
- CalibrateAnchors.srv: request (anchor_ids[], n_samples) →
response (positions_x/y/z[], residual_rms_m, anchor_positions_json)
ROS2 package saltybot_uwb_calibration:
- mds_math.py: classical MDS (double-centred D², eigendecomposition),
anchor_frame_align() to fix anchor-0 at origin / anchor-1 on +X
- calibration_node.py: /saltybot/uwb/calibrate_anchors service —
opens anchor serial ports, rounds-robin AT+PEER_RANGE= for all pairs,
builds N×N distance matrix, runs MDS, returns JSON anchor positions
- 12/12 unit tests passing (test/test_mds_math.py)
- Supports ≥ 4 anchors; 5× averaged ranging per pair by default
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
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