README.md

DWM1001 Driver Package

This is a ROS 2 package for interfacing with the Qorvo (formerly Decawave) DWM1001.

Nodes

Passive Tag Node (passive_tag)

This node connects to a DWM1001 configured as a passive tag. It listens for position reports from active tags and publishes any that it discovers.

Subscribers

This node does not provide subscribers.

Publishers

Topic	Message Type	Frequency	Description
~/output/<discovered_tag_label>	geometry_msgs/PointStamped	10 Hz	Discovered active tag position. This node creates a publisher for each discovered DWM1001 active tag, and the topic name is the tag's label.

Parameters

Topic	Data Type	Default Value	Required	Read Only	Description
~/serial_port	string	''	Yes	Yes	Serial port for interfacing with the DWM1001 device.
~/ignore_tags	string	''	No	Yes	Comma-separated list of DWM1001 tags to ignore. This node will not publish reports from tags on this list. Example: DW1234,DW1235,DW1236.
~/num_samples	int	3	No	Yes	The number of DWM samples used to average the data.

Services

This node does not provide services.

Actions

This node does not provide actions.

Dummy Passive Tag Node (dummy_passive_tag)

This node imitates the passive_tag node by publishing a fixed position for a single "discoverd" active tag.

Subscribers

This node does not provide subscribers.

Publishers

Topic	Message Type	Frequency	Description
~/<tag_label>	geometry_msgs/PointStamped	10 Hz	"Discoverd" active tag's current position in the common DWM1001 coordinate frame.

Parameters

Topic	Data Type	Default Value	Required	Read Only	Description
~/tag_label	string	''	Yes	Yes	Label for the imitated DWM1001 tag.

Services

This node does not provide services.

Actions

This node does not provide actions.

Active Tag Node (active_tag)

This node connects to a DWM1001 configured as an active tag and publishes its position.

Subscribers

This node does not provide subscribers.

Publishers

Topic	Message Type	Frequency	Description
~/output/<tag_id>	geometry_msgs/PointStamped	10 Hz	Tag's current position in the common DWM1001 coordinate frame.

Parameters

Topic	Data Type	Default Value	Required	Read Only	Description
~/serial_port	string	''	Yes	Yes	Serial port for interfacing with the DWM1001 device.
~/tag_id	string	''	Yes	Yes	The ID for the particular DWM1001 device.
~/samples	int	''	Yes	Yes	The number of samples to use in the driver's moving average. Default is 3 samples.

Services

This node does not provide services.

Actions

This node does not provide actions.

Dummy Passive Tag Node (dummy_active_tag)

This node imitates the active_tag node by publishing a fixed position for the tag.

Subscribers

This node does not provide subscribers.

Publishers

Topic	Message Type	Frequency	Description
~/<tag_label>	geometry_msgs/PointStamped	10 Hz	Tag's current position in the common DWM1001 coordinate frame.

Parameters

Topic	Data Type	Default Value	Required	Read Only	Description
~/tag_label	string	''	Yes	Yes	Label for the imitated DWM1001 tag.

Services

This node does not provide services.

Actions

This node does not provide actions.