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How to read indoor positioning equipment date by ros

asked 2016-08-15 07:05:51 -0500

chenlee gravatar image

updated 2016-08-15 08:33:52 -0500

I am trying to read indoor positioning equipment date to ROS.The indoor positioning equipment called Ubisense which can publish location date(like three-dimensional coordinate x, y, z) to local area network.So I want knew about how ROS read the indoor positioning equipment date.

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You realize that you ask how to read data from your device without telling which device you have?

NEngelhard gravatar image NEngelhard  ( 2016-08-15 07:16:54 -0500 )edit

My device is a indoor positioning equipment called Ubisense which can publish location date(like three-dimensional coordinate x, y, z),but I don't know how ROS read it.

chenlee gravatar image chenlee  ( 2016-08-15 07:58:49 -0500 )edit
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Could you please update your question? It's completely useless in it's current version.

NEngelhard gravatar image NEngelhard  ( 2016-08-15 08:02:47 -0500 )edit

Thanks.I thought there need a API so I can use directly.

chenlee gravatar image chenlee  ( 2016-08-15 08:39:45 -0500 )edit

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answered 2016-08-18 10:49:37 -0500

Shay gravatar image

Location date? You mean Location data, right?

In the ROS Navigation Stack, the basic tf is map->odom->base_link, the encoders in your robot can get odometry infomation, from which you can get the pose of base_link relative to odom.

And with Ubisense, you can get the position of base_link relative to map. With this position, you can adapt map->odom to make your robot's position right.

I guess Ubisense uploads the robot position to your computer(which runs ROS) through USB or Serial Port. After reading that info, you need to write a Publisher program to publish your position to ROS(say topic /Ubisense/Pose). This position info should in the geometry_msgs/Pose format.(or other similar format).

And then, you need a tf program which subscribes the topic /Ubisense/Pose, and broadcast the tf map->odom.

Good Luck.

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Asked: 2016-08-15 07:05:51 -0500

Seen: 96 times

Last updated: Aug 18 '16