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DecaWave Localization ROS Node

This ROS node for localization using a set of the DecaWave EVK1000. This ROS node uses known anchor positions to solve for the position of a tag. This approach uses a non-linear optimization method to determine the position of the tag which makes it more resilient to noise than naive geometric approaches. Also, I use Kalman filter to reduce the noise in the position signal.

Installation

cd $CATKIN_WS
git clone https://github.com/wallarelvo/decawave_localization.git
cd decawave_localization
pip install -r requirements.txt

Running

1. Turn on three or more anchors and one tag
2. Record the locations of the anchors relative to a known origin in launch/localize.launch or in param/demo.yaml
3. Run roslaunch decawave_localization localize.launch with the appropriate parameters for your current setup
4. Open RViz or run rostopic echo /radio_pose to see the current pose of your tag

Parameters and Tuning

In param/demo.yaml you will a list of customizable parameters such as the the transition matrix, observation matrix, initial state estimate, and initial covariance estimate used for the Kalman filter. You should change this based on the setup of your system.