Pozyx to ROS

A ROS publisher that publish the coordinates from a Pozyx tag connected with USB. This publisher will output in the form a Vector3 message.

This package does only contain functionality for getting the coordinates from one tag. It does not provide the full functionality of Pozyx.

Installation

1. Clone the repository into the src folder of your ROS workspace.
2. Run pip install pyserial
3. Run pip install pypozyx
4. Run catkin_make at the workspace root. Use catkin build -DCATKIN_ENABLE_TESTING=0 instead if you are building for the TIAGO simulation workspace.

Example usage

How to run the publisher:

rosrun pozyx_to_ros PozyxToRos.py

Echoing output from the publisher:

rostopic echo /pozyx

Configuration

The package can be configured with the config/PozyxConfig.yaml file. This configuration essentially only holds information of the pozyx anchors.

Example configuration:

anchors: 
  - anchor1:
    id: 0x682c
    flag: 1
    coordinates:
      x: -2612
      y: -3376
      z: 0
  - anchor2:
    id: 0x6854
    flag: 1
    coordinates:
      x: 666
      y: -3071
      z: 0
  - anchor3:
    id: 0x680b
    flag: 1
    coordinates:
      x: -2003
      y: 1008
      z: 0
  - anchor4:
    id: 0x6851
    flag: 1
    coordinates:
      x: -26
      y: 2071
      z: 0