343e53081a
saltybot_uwb_logger_msgs (new package):
- AccuracyReport.msg: n_samples, mean/bias/std (x,y,2D), CEP50, CEP95,
RMSE, max_error, per-anchor range stats, test_id, duration_s
- StartAccuracyTest.srv: request (truth_x/y_m, n_samples, timeout_s,
test_id) → response (success, message, test_id)
saltybot_uwb_logger (new package):
- accuracy_stats.py: compute_stats() + RangeAccum — pure numpy, no ROS2
CEP50/CEP95 = 50th/95th percentile of 2-D error; bias, std, RMSE, max
- logger_node.py: /uwb_logger ROS2 node
Subscribes:
/saltybot/pose/fused → fused_pose_<DATE>.csv (ts, x, y, heading)
/saltybot/uwb/pose → uwb_pose_<DATE>.csv (ts, x, y)
/uwb/ranges → uwb_ranges_<DATE>.csv (ts, anchor_id, range_m,
raw_mm, rssi, tag_id)
Service /saltybot/uwb/start_accuracy_test:
Collects N fused-pose samples at known (truth_x, truth_y) in background
thread. On completion or timeout: publishes AccuracyReport on
/saltybot/uwb/accuracy_report + writes accuracy_<test_id>.json.
Per-anchor range stats included. CSV flushed every 5 s.
Tests: 16/16 passing (test/test_accuracy_stats.py, no ROS2/hardware)
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
32 lines
1.0 KiB
XML
32 lines
1.0 KiB
XML
<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>saltybot_uwb_logger</name>
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<version>0.1.0</version>
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<description>
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UWB position logger and accuracy analyzer (Issue #634).
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Logs fused pose, raw UWB pose, per-anchor ranges to CSV.
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Provides /saltybot/uwb/start_accuracy_test: collects N samples at a
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known position and computes CEP50, CEP95, RMSE, max error.
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</description>
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<maintainer email="sl-uwb@saltylab.local">sl-uwb</maintainer>
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<license>Apache-2.0</license>
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<depend>rclpy</depend>
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<depend>geometry_msgs</depend>
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<depend>std_msgs</depend>
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<depend>saltybot_uwb_msgs</depend>
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<depend>saltybot_uwb_logger_msgs</depend>
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<exec_depend>python3-numpy</exec_depend>
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<test_depend>ament_copyright</test_depend>
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<test_depend>ament_flake8</test_depend>
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<test_depend>ament_pep257</test_depend>
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<test_depend>python3-pytest</test_depend>
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<export>
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<build_type>ament_python</build_type>
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</export>
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</package>
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