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Samuel
06-19-2015, 09:35 AM
Hello,

my name is Samuel and I am one of the creators of Pozyx (https://www.kickstarter.com/projects/pozyx/pozyx-accurate-indoor-positioning-for-arduino), an indoor positioning system that is currently running on kickstarter. We are using ultra-wideband (UWB) radio signals to accurately measure the distances to some anchors for positioning (the signals can pass through walls or objects). We have recently achieved our funding goal and as a stretch goal we are going to make sure the system is ROS compatible.
By means of this post I would like to know what kind of functionalities should be supported by the Pozyx platform to make it really useful in ROS?

The board is equipped with an UWB transceiver, a gyroscope, accelerometer, magnetometer and pressure sensor. The onboard microcontroller (STM32F4) is in charge of the ranging protocol, messaging protocol, the positioning, sensor fusion, anchor calibration and all the other stuff to make to board act like a sensor: communication, configuration, etc.

Check out the project here:
https://www.kickstarter.com/projects/pozyx/pozyx-accurate-indoor-positioning-for-arduino

Looking forward to your input,
Samuel

r3n33
06-19-2015, 11:42 AM
Hi Samuel! Your project looks great and welcome to the forums.

For ROS support it would be nice to have a package that provides data from each of your sensors contained in relevant message types. For example I'd look for a published topic from your ROS package that contained sensor_msgs/Imu (http://docs.ros.org/api/sensor_msgs/html/msg/Imu.html) type messages that I could use in other ROS nodes. Because you have the ability to give position in a 3D space I think you'd want to publish a topic with something like geometry_msgs/Pose (http://docs.ros.org/api/geometry_msgs/html/msg/Pose.html). If the tags are only Arduino compatible there will likely be some ROS firmware or compatibility within the firmware to communicate with the ROS package that is publishing these topics.

I'm not a ROS expert and there are others who will likely be of more assistance. I'm also unsure of your ROS skill level so I may have been a bit to vague or only stated the obvious. That said I really like the idea of having another source of accurate positioning information on something like my hexapod when doing mapping and look forward to seeing where your project goes. :)