0.1 release version

CMakeLists.txt

@@ -0,0 +1,199 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(estimote_robotics_indoor_sdk)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES estimote_robotics_indoor_sdk
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/estimote_robotics_indoor_sdk.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/estimote_robotics_indoor_sdk_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_estimote_robotics_indoor_sdk.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

README.md

@@ -1 +1,58 @@
-# Robotics-Indoor-SDK
+# Robotics-Indoor-SDK
+
+### Overview
+This repository contains ROS Package of Robotics Indoor SDK developed by Estimote.
+</br>Package is currently compiled to support RaspberryPi 3 (armv7l GNU/Linux).
+
+### Feedback and support
+We are working on support for other platforms, contact us if you need support for specific hardware.
+</br>Feel free to share any feedback or ask questions about this project by sending email to [email protected]
+
+### Detailed documentation
+Instructions how to prepare your hardware setup and
+detailed documentation of the system could be found at our developer portal: LINK_TO_DOCUMENTATION
+
+### Quick installation guide
+0. Make sure you have installed ROS and configured Catkin workspace on your Raspberry Pi.
+1. Download content of this repository and save as `estimote_robotics_indoor_sdk` folder inside `src/` folder in your catkin workspace (referred later as `$CATKIN_WORKSPACE`)
+2. Run `$ catkin_make` from your catkin workspace.
+3. Open three separate terminals, run `$ roscore` in first and use last two in steps described below.
+4. Start the positioning node:
+```sh
+$ cd $CATKIN_WORKSPACE
+$ source ./devel/setup.bash
+$ rosparam load src/estimote_robotics_indoor_sdk/src/params.yaml
+$ rosrun estimote_robotics_indoor_sdk runner.py
+```
+Example output:
+```
+[Robotics Indoor SDK] initializing ROS node..
+[Robotics Indoor SDK] ROS node started, initializing positioning system..
+[Robotics Indoor SDK] checking database presence..
+[Robotics Indoor SDK] enabling central beacon..
+[Robotics Indoor SDK] coordinates data saver started..
+[Robotics Indoor SDK] packets data saver started..
+[Robotics Indoor SDK] saving distance measures started..
+[Robotics Indoor SDK] location data fetched..
+[Robotics Indoor SDK] postition estimation started..
+[INFO] [1504609463.780477]: 3.01280850467, 10.0553189206
+[INFO] [1504609464.300261]: 3.00472775165, 10.0038531813
+[INFO] [1504609464.816015]: 3.05423739245, 10.0339022171
+```
+
+5. Start an exemplary listener:
+```sh
+$ cd $CATKIN_WORKSPACE
+$ source ./devel/setup.bash
+$ rosrun estimote_robotics_indoor_sdk listener.py
+```
+
+Example listener output:
+```sh
+[INFO] [1504611699.781092]: /listener_6832_1504611699257 [Robotics Indoor SDK] x, y = 3.01280850467, 10.0553189206
+[INFO] [1504611700.298712]: /listener_6832_1504611699257 [Robotics Indoor SDK] x, y = 3.00472775165, 10.0038531813
+[INFO] [1504611700.814251]: /listener_6832_1504611699257 [Robotics Indoor SDK] x, y = 3.05423739245, 10.0339022171
+```
+
+Our node posts current robot position in format `x, y` to `estimote_position` ROS topic.
+<br/>The rest of messages content presented above was generated in the exemplary `listener.py` script.

package.xml

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+<?xml version="1.0"?>
+<package>
+  <name>estimote_robotics_indoor_sdk</name>
+  <version>0.1.0</version>
+  <description>Estimote Robotics Indoor SDK</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="[email protected]">Jane Doe</maintainer> -->
+  <maintainer email="[email protected]">Estimote Tech Support</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>MIT</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/robotics_package</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="[email protected]">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/listener.py

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+#!/usr/bin/env python
+import rospy
+from std_msgs.msg import String
+
+def callback(data):
+    rospy.loginfo(rospy.get_caller_id() + " [Robotics Indoor SDK] x, y = %s", data.data)
+
+def listener():
+    rospy.init_node('listener', anonymous=True)
+    rospy.Subscriber("estimote_position", String, callback)
+    rospy.spin()
+
+if __name__ == '__main__':
+    listener()

src/params.yaml

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+/cloud/app_id: 'Paste your App ID here'
+/cloud/app_token: 'Paste your App Token here'
+/cloud/location_id: 'Paste your Location identifier here'
+/cloud/url: 'https://cloud.estimote.com'
+/port/serial_port: '/dev/ttyUSB0'

src/runner.py

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+#!/usr/bin/env python
+import time
+import rospy
+print "[Robotics Indoor SDK] initializing ROS node.."
+rospy.init_node('positioning', anonymous=True)
+print "[Robotics Indoor SDK] ROS node started, initializing positioning system.."
+import robotics_indoor_sdk
+
+while True:
+    time.sleep(0.2)