Branch oscar
Compare changes
@@ -17,6 +17,7 @@
@@ -17,6 +17,7 @@
@@ -26,6 +27,9 @@
@@ -26,6 +27,9 @@
@@ -33,15 +37,16 @@ ros::NodeHandle_<LocalinoHardware> _nh;
@@ -33,15 +37,16 @@ ros::NodeHandle_<LocalinoHardware> _nh;
@@ -50,24 +55,28 @@ char anchorid[90] = "02:00:5B:D5:A9:9A:E2:9C"; // defines the ID of the An
@@ -50,24 +55,28 @@ char anchorid[90] = "02:00:5B:D5:A9:9A:E2:9C"; // defines the ID of the An
@@ -90,8 +99,6 @@ void DW1000Ranging_setup() {
@@ -90,8 +99,6 @@ void DW1000Ranging_setup() {
@@ -99,64 +106,72 @@ void ROS_setup() {
@@ -99,64 +106,72 @@ void ROS_setup() {
String msg = "R," + String(DW1000Ranging.getDistantDevice()->getShortAddress(), HEX) + "," + String(2) + "," + tagRange + "," + String(_antennaDelay);
String msg = "TAG [" + String(_currentShortAddress, HEX) + "] -> N,ranging init; 1 device added! -> short: " + String(device->getShortAddress(), HEX);
String msg = "ANCHOR [" + String(_currentShortAddress, HEX) + "] -> B,blink; 1 device added! -> short: " + String(device->getShortAddress(), HEX);
String msg = "ANCHOR [" + String(_currentShortAddress, HEX) + "] -> D,delete inactive device: " + String(device->getShortAddress(), HEX);
@@ -165,16 +180,30 @@ void enviarSerialRos(int anchor, float distance, float power, int code, String m
@@ -165,16 +180,30 @@ void enviarSerialRos(int anchor, float distance, float power, int code, String m