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Create AnchorScan.msg #148

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Create AnchorScan.msg #148

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21 changes: 21 additions & 0 deletions sensor_msgs/msg/AnchorScan.msg
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# This is a message to hold the fixed anchors' (UWB sensors) information at known coordinates
# and Time Difference of Arrival (TDOA) values.
#
# The indoor positioning systems developed using UWB signals include multiple sensors
# that transmit UWB signals in an environment.
#
# Calculations such as position, anchor selection etc. are made by using TDOA measurements
# from these sensors and coordinate information of the sensors.
#
# With the defined AnchorScan message, it allows the publish of this information
# from the sensors via any developed firmware.

Header header

int32[] AnchorID # ID of fixed sensors.

float64[] x # x coordinates of fixed sensors respectively in meter
float64[] y # y coordinates of fixed sensors respectively in meter
float64[] z # z coordinates of fixed sensors respectively in meter

float64[] tdoa_of_anchors # TDOA values of UWB signals according to sensor with minimum ID.