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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.
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.
Asked: 2016-08-15 07:05:51 -0500
Seen: 207 times
Last updated: Aug 18 '16
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You realize that you ask how to read data from your device without telling which device you have?
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.
Could you please update your question? It's completely useless in it's current version.
Thanks.I thought there need a API so I can use directly.