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--- projects:lps:index [2016-05-24 14:25]
arnaud
+++ projects:lps:index [2020-05-12 14:30] (current)
kimberly
@@ Line 1: / Line 1: @@
-<WRAP center round info>
+<WRAP center round important 60%>
-//**Alpha production**//
+This page has deprecated and moved to the new documentation framework of the main Bitcraze website. Please go to [[https://www.bitcraze.io/documentation/system/]]
-Currently this product is only available as part if our [[https://www.bitcraze.io/2016/01/4966/|alpha release]] and not yet finalized. Information here will be changed at any time without notice.
 </WRAP>
-====== System overview ======
+====== Loco Positioning System ======
-The local positioning system is based on the [[http://www.decawave.com/|DecaWave]] DWM1000 module. The system consists of a number of anchors that's continuously pinged from the Crazyflie 2.0 deck that's based on the same module. The anchors are placed around the room at known positions (for now).
-<WRAP group>
+The loco positioning system (LPS) project is a set of hardware and software designed to implement a local positioning system (LPS). The hardware is based on the Decawave DW1000 chip. For more information about the system see the [[doc:lps:index|Loco positioning system documentation]]
-<WRAP half column>
-Our testsystem uses the following components:
-  * 6 anchors (with power cables) using [[https://github.com/bitcraze/bitcraze-mechanics/blob/master/LPS-anchor-stand/anchor-stand.stl|this]] 3D printed stand
-  * 1 deck
-  * Computer running [[http://wiki.ros.org/indigo|ROS (Indigo)]] using the [[http://wiki.ros.org/crazyflie|Crazyflie ROS module]]
-  * Crazyflie client with ZMQ to mix manual and automatic control
-</WRAP>
-<WRAP half column>
-Here's a video of the current state (March 2016).
-{{youtube>addbBgewzOU}}
-</WRAP>
-</WRAP>
-====== Hardware description ======
+===== Hardware description =====
-The hardware consists two parts, nodes and decks.
+The hardware consists multiple parts:
   * [[projects:lps:node|Loco positioning node]]: Mainly aimed as an anchor but can be used as a tag or UWB radio transceiver and sniffer.
-  * [[projects:lps:deck|Loco positioning deck]]: USB radio deck to be installed on Crazyflie 2.0
+  * [[projects:lps:deck|Loco positioning deck]]: USB radio deck to be installed on Crazyflie 2.X
+  * [[projects:lps:roadrunner|Roadrunner]]: Standalone tag aimed at enabling other robots to use the positioning
-====== ROS ======
-The ROS module for positioning with the LPS is available on Github: https://github.com/bitcraze/lps-ros. It has been developed and tested on ROS Indigo running on Ubuntu 14.04
-To get started from a newly installed ubuntu:
-  - Install ROS: http://wiki.ros.org/indigo/Installation/Ubuntu
-  - Create your workspace: http://wiki.ros.org/ROS/Tutorials/InstallingandConfiguringROSEnvironment#Create_a_ROS_Workspace
-  - Clone https://github.com/bitcraze/lps-ros and https://github.com/whoenig/crazyflie_ros in the workspace src folder
-  - Run //catkin_make// to build the packages
-  - Source the workspace //devel/setup.bash// again
-  - Run //rosdep install bitcraze_lps_estimator// to install dependencies
-The position of the anchor has to be entered in a configuration file. The file should be //data/anchor_pos.yaml//. An example is present in the data folder:
-<file yaml anchor_pos.yaml>
-n_anchors: 6
-anchor0_pos: [  0,   0, 1.85]
-anchor1_pos: [  0,   2, 1.85]
-anchor2_pos: [  4,   2, 1.85]
-anchor3_pos: [  4,   0, 1.85]
-anchor4_pos: [1.3,   1, 1.85]
-anchor5_pos: [2.6,   1, 1.85]
-</file>
-The positions are in meter, [x, y, z], from the origin.
-When this file is configured, the //dwm_loc.launch// launch configuration will connect the crazyflie with the right log setup, launch the particle filter and the visualization:
-<code bash>
-$ roslaunch bitcraze_lps_estimator dwm_loc.launch uri:=radio://0/40/2M
-</code>
-====== Set up ======
-the dwm nodes can be configured in 3 different modes; tag, anchor or sniffer. By default they come pre-configured as anchors. The anchors are powered with 5v either through micro usb, power jack or screw terminal
-A nice way to power the anchors is to use usb power pack like we do here:
-{{:projects:lps:dwm-setup.jpg|}}
-Place the anchors at least 15 cm from the floor/wall/ceiling, and preferably at least 2 meter apart.
-We use 3d printed anchor-stands that can be found at: https://github.com/bitcraze/bitcraze-mechanics/blob/master/LPS-anchor-stand/anchor-stand.stl
-One of the main consideration for the anchor placement is the [[https://en.wikipedia.org/wiki/Dilution_of_precision_(GPS)|Dilution Of Precision]].

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