atlas_config_example

Overview

This is a configuration example for the the ATLAS Real-Time Localization System (RTLS).

License

The source code of the localization is released under BSD 3-Clause license.

Authors: Janis Tiemann, Yehya Elmasry

Maintainer: Janis Tiemann, janis.tiemann@tu-dortmund.de

Affiliation: Communication Networks Institute (CNI), TU Dortmund University

Publications

If you use this work in an academic context, please cite the following publication(s):

J. Tiemann, Y. Elmasry, L. Koring, C. Wietfeld, ATLAS FaST: Fast and Simple Scheduled TDOA for Reliable Ultra-Wideband Localization, In IEEE International Conference on Robotics and Automation (ICRA), Montréal, Canada, May 2019. (accepted for presentation).

@InProceedings{Tiemann2019atlasfast,
        Author = {Janis Tiemann and Yehya Elmasry and Lucas Koring and Christian Wietfeld},
        Title = {ATLAS FaST: Fast and Simple Scheduled TDOA for Reliable Ultra-Wideband Localization},
        Booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
        Year = {2019},
        Publishingstatus = {accepted for presentation},
        Address = {Montréal, Canada},
        Month = {May}
}

The atlas_config_example package has been tested under ROS Kinetic and Ubuntu 16.04. This is research code, expect that it changes often and any fitness for a particular purpose is disclaimed.

Example image

Installation

Building from Source

Dependencies

Robot Operating System (ROS) (middleware for robotics),
ATLAS RTLS

Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

cd catkin_workspace/src
git clone https://github.com/tudo-cni-atlas/atlas_config_example.git
cd ../
catkin_make -j1

Usage

Due to the modular nature and numerous configuration files that are required to run the ATLAS RTLS, multiple terminal instances is needed. An example is provided here:

Start a roscore:

roscore

Load the required config files:

source devel/setup.bash
roslaunch atlas_config_example config.launch

Start the ATLAS core node (Taking the TOA messages and performing TDOA sample assembly):

source devel/setup.bash
roslaunch atlas_config_example core.launch

Start the ATLAS localization node(s) (Taking the TDOA samples and calculating positions):

source devel/setup.bash
roslaunch atlas_config_example localizer.launch

Start the ATLAS visualization node:

source devel/setup.bash
roslaunch atlas_config_example visualizer.launch

Unzip the bags/2018-09-10-14-27-04.zip first and place the .bag file in the bags folder.

The replay the raw TOAs and ground-truth messages:

source devel/setup.bash
rosbag play -s 35 src/atlas_config_example/bags/2018-09-10-14-27-04.bag

tudo-cni-atlas / atlas_config_example

readme