sl-jetson
a00dbe6429
New packages
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saltybot_uwb_msgs (ament_cmake)
• UwbRange.msg — per-anchor range reading (anchor_id, range_m, raw_mm, rssi)
• UwbRangeArray.msg — array of UwbRange published on /uwb/ranges
saltybot_uwb (ament_python)
• ranging_math.py — pure triangulate_2anchor() (height-compensated TWR
geometry, 2-anchor intersection) + KalmanFilter2D
(constant-velocity, numpy-free, 16 tests pass)
• uwb_driver_node.py — SerialReader threads poll MaUWB ESP32-S3 DW3000
anchors via AT+RANGE?, triangulate, Kalman-smooth,
publish /uwb/target (PoseStamped/base_link) + /uwb/ranges
• config/uwb_config.yaml, launch/uwb.launch.py
• test/test_ranging_math.py — 16 unit tests (triangulation + Kalman), all pass
Updated saltybot_follower
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• person_follower_node.py — adds fuse_targets() pure helper + /uwb/target
subscriber (primary, weight=0.7); /person/target secondary (weight=0.3);
weighted blend when both fresh, graceful fallback to single source; new
params uwb_weight + uwb_timeout
• person_follower_params.yaml — uwb_weight: 0.7, uwb_timeout: 1.0s
• test_person_follower.py — 7 new TestFuseTargets cases; total 60 pass
Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
33 lines
903 B
Python
33 lines
903 B
Python
from setuptools import setup
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import os
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from glob import glob
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package_name = "saltybot_uwb"
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setup(
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name=package_name,
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version="0.1.0",
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packages=[package_name],
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data_files=[
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("share/ament_index/resource_index/packages",
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["resource/" + package_name]),
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("share/" + package_name, ["package.xml"]),
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(os.path.join("share", package_name, "launch"),
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glob("launch/*.py")),
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(os.path.join("share", package_name, "config"),
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glob("config/*.yaml")),
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],
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install_requires=["setuptools"],
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zip_safe=True,
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maintainer="seb",
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maintainer_email="seb@vayrette.com",
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description="UWB follow-me driver for saltybot (MaUWB ESP32-S3 DW3000)",
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license="MIT",
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tests_require=["pytest"],
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entry_points={
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"console_scripts": [
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"uwb_driver = saltybot_uwb.uwb_driver_node:main",
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],
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},
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)
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