turtlebot navigation using uwb

asked 2019-09-02 16:33:11 -0600

updated 2019-09-02 16:34:01 -0600

Hello everyone. I am using turtlebot 3 burger with kinetic and ubuntu 16.04. I am using ultra wide band sensor for positioning of robot. I have transmitters and a receiver. The receiver in connected with raspberry pi via usb. I am able make a python code which will calculate the distance from each anchor and give me two readings, i-e x and y. The code runs in pi and not in my PC where i have ros master. Now i want to access this data in ros and use it for naavigation. How can i do that? I am not very experienced in ros, so any help/tutorial will be of great help.

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@enthusiast.australia: please mark a question as answered by clicking the checkmark to the left of the answer.

We don't close questions here when they are answered.

gvdhoorn ( 2019-09-08 10:42:59 -0600 )edit

Can you share some information for how to fusion burger and UWB in ros?

Xiao ( 2021-01-19 02:08:30 -0600 )edit

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answered 2019-09-04 02:08:19 -0600

duck-development

1999 ●4 ●160 ●25

You have to set the ros masters Adress as the environment var

export ROS_MASTER_URI=http://yourPcIpl:11311

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Where i have to set that? Can you please explain a little what to do and where?

enthusiast.australia ( 2019-09-04 03:44:09 -0600 )edit

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answered 2019-09-03 21:02:56 -0600

danscava
36 ●4 ●3

Take a look at Running ROS across multiple machines. If the pi is in the same network as your PC, you should be able to run ROS on the pi and publish the position to your PC.

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Yes Pi is in same network as my PC but my PC is master and Pi is host. The Pi is in my turtlebot. i run roscore on my PC and master service is started. Now i start my pi with roslaunch bringup command and do my further work. How should i modify things?

enthusiast.australia ( 2019-09-04 03:43:16 -0600 )edit

You should add your PC hostname to the file /etc/hosts of your pi. Add the following line:

192.168.x.x     your-pc-hostname

(Fill with the correct information of your PC's hostname and IP.)

In the /etc/hosts of your PC, add the hostname of the pi

192.168.x.x      your-pi-hostname

ROS_MASTER_URI is an environment variable that determines where your master is located, in the case of your pi, your master is located on the PC, so this variable on the pi should be:

ROS_MASTER_URI=http://your-pc-hostname:11311/

To set this variable, you must use the export command in the terminal, like this:

export ROS_MASTER_URI=http://your-pc-hostname:11311/

This is valid only for the current bash, if you want this automatically set every time you run bash, you should add the line above to the file .bashrc located on your home folder.

danscava ( 2019-09-04 07:09:07 -0600 )edit

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answered 2021-01-19 16:16:47 -0600

bekirbostanci

76 ●4 ●17 ●11 https://github.com/bek...

what is your uwb brand? Is it pozyx ? this is the simulation pack. with this repo you can create uwb anchors in your map https://github.com/bekirbostanci/pozy... also if you want to calculate your position you can use this repo. There is 2 different approaches. Kalman filter and particle filter https://github.com/advoard/advoard_lo...

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