started README

README.md

@@ -0,0 +1,77 @@
+# Jackal Ad-Hoc Ultra-wideband localization
+
+<p align="center">
+    <a href="https://github.com/Marius-Juston/UWB-Localization/graphs/contributors" alt="Contributors">
+        <img src="https://img.shields.io/github/contributors/Marius-Juston/UWB-Localization" /></a>
+    <a href="https://github.com/Marius-Juston/UWB-Localization/pulse" alt="Activity">
+        <img alt="GitHub commit activity" src="https://img.shields.io/github/commit-activity/m/Marius-Juston/UWB-Localization"></a>
+    <a href="https://github.com/Marius-Juston/UWB-Localization/stargazers">
+        <img alt="Stars" src="https://img.shields.io/github/stars/Marius-Juston/UWB-Localization"></a>
+    <a href="https://github.com/Marius-Juston/UWB-Localization/network/members">
+        <img alt="Forks" src="https://img.shields.io/github/forks/Marius-Juston/UWB-Localization"></a>
+    <a href="https://github.com/Marius-Juston/UWB-Localization/issues">
+        <img alt="Issues" src="https://img.shields.io/github/issues/Marius-Juston/UWB-Localization"></a>
+    <a href="./LICENSE" alt="Activity">
+        <img alt="GitHub" src="https://img.shields.io/github/license/Marius-Juston/UWB-Localization"></a>
+</p>
+
+# Project Description
+
+This project is meant to implement a localization algorithm where a [Jackal](https://clearpathrobotics.com/jackal-small-unmanned-ground-vehicle/) is combined with [Decawave Ultra-widebands](https://www.decawave.com/product/mdek1001-deployment-kit/) and is meant to be able to localize itself with both mobile and stationary anchors in the world.
+
+# Installation
+
+This project uses [`ROS Melodic`](http://wiki.ros.org/melodic) as its ROS backend.
+
+To setup:
+
+1. Either create a catkin workspace or navigate to its `src` folder
+2. `[email protected]:Marius-Juston/UWB-Localization.git`
+3. This project is also associated with [UWB-Jackal-World](https://github.com/Marius-Juston/UWB-Jackal-World)
+   - Follow this page if you want to install the Gazebo environement for this project, though it is not necessary.
+4. If you choose to not install Gazebo environement be sure to have the `gtec_rosmsgs` installed
+    - Create a `gtec` folder in your catkin's `src`
+    - `git clone https://github.com/valentinbarral/rosmsgs`
+    - This installs the custom UWB ranging messages
+    - Navigate to your base `cakin_ws` folder
+    - `rospack profile`
+    - `catkin_make`
+    - `source ~/catkin_ws/devel/setup.bash`
+      - This step is very important. Be sure to run this every time you open up a new terminal. If you do not you will get errors when trying to run the world, that you cannot see certain packages.
+      -  To make things easier if you only have a single ROS build and  `catkin_ws`, then you can run: 
+      - `echo "source ~/catkin_ws/devel/setup.bash" > ~/.bashrc`
+      -  This will allow you to not have to run the source command every time.
+
+# Files
+
+## csv_creator.py
+
+This converts a rosbag with the format: 
+
+`rosbag record /ground_truth/state /gtec/toa/anchors /gtec/toa/ranging /odometry/filtered`
+
+In to a csv file that be read and used offline. This can be usefull if you want to remove ROS from the equation all together. 
+
+To use this:
+
+1. `rossun uwb_localization csv_creator.py`
+2. Run the rosbag you want to convert (i.e. `rosbag play *.bag`)
+   - Be carefull because this csv_creator assumes that the anchors are currently stationary 
+
+## location_drawer.py
+
+This plots in real-time the location of the robot's positions in a matplotlib graph.
+
+![Location Plotter Example](images/location_drawer.png)
+
+By default it plots:
+- The actual robot's position (`/ground_truth/state`)
+- The odometry position (`/odometry/filtered`)
+- The UWB localization output (`/jackal/uwb/odom`) 
+
+To use:
+- `rosrun uwb_localization location_drawer.py`
+  - Default parameters
+- `rosrun uwb_localization location_drawer.py /jackal/uwb/odom`
+  - Custom odometry message
+