GTEC ROS Messages

This package contains a set of custom ROS message definitions used in several GTEC ROS nodes. The package supports both ROS 1 and ROS 2, with message definitions located in msg-ros1/ and msg-ros2/ directories respectively.

Message Types

Ranging Messages

• Ranging - Basic message that models a range value between a tag and an anchor, including RSS and error estimation.

• GenericRanging - Generic ranging message with anchor ID, tag ID, range, sequence number, and RX power.

• UWBRanging - Ultra-Wideband ranging message with detailed DW1000 parameters including raw range, bias correction, noise measurements, first path amplitude, CIR (Channel Impulse Response) data, and channel configuration.

• PozyxRanging - Ranging message for Pozyx tag/anchor systems. Encapsulates parameters provided by the DW1000, including ranging values, quality measurements, channel configuration, and angle information.

• PozyxRangingWithCir - Extended Pozyx ranging message that includes CIR (Channel Impulse Response) data.

• DWRanging - Ranging message for EBV1000 tag/anchor systems. Includes detailed DW1000 parameters such as noise measurements, first path amplitude, CIR data, and channel configuration.

• RangingDiff - Message for representing ranging differences or differential ranging measurements.

• ESP32S2FTMRanging - Ranging message for ESP32-S2 FTM (Fine Time Measurement) systems. Includes RTT (Round Trip Time) estimates, raw RTT values, distance estimates, and frame data.

• ESP32S2FTMFrame - Individual frame data for ESP32-S2 FTM ranging.

• ESP32S2FTMRangingExtra - Extended ESP32-S2 FTM ranging message with additional parameters.

Radar Messages

• RadarCube - 3D radar data cube with FFT size, angle bins, and data array.

• RadarRangeAzimuth - 2D radar data with range and azimuth information, including number of range bins and virtual antennas.

• RadarRangeDoppler - 2D radar data with range and Doppler information.

• RadarFusedPointStamped - Timestamped fused radar point data.

Event and Occupancy Messages

• DoorCounterEvent - Event message for door counter systems, including low-to-high and high-to-low transitions.

• ZoneOccupancy - Message for zone occupancy detection, including zone ID, target IDs, and count.

Dependencies

• std_msgs - Standard ROS message types
• geometry_msgs - Geometry-related message types

Building

ROS 1 (Catkin)

catkin_make
# or
catkin build

ROS 2 (Ament)

colcon build --packages-select gtec_msgs

License

MIT License