nxp-uwb-ros2

nxp-uwb-ros2 is a ROS2 driver for the NXP SR150 Ultra-Wideband (UWB) chip, which implements precise ranging capabilities. This package is designed for applications requiring accurate distance measurement and positioning between devices using UWB technology.

Features

• Support for two-way ranging (TWR) and time difference of arrival (TDoA).
• Configurable parameters including roles, MAC addresses, and session settings.
• Publishes UWB ranging data as ROS2 messages.

Requirements

• ROS2 Humble or later
• CMake 3.8 or later
• Required dependencies:
  • rclcpp
  • std_msgs
  • uwb_msgs
• Linux SR1XX Kernel driver NXP_SPI_Driver V7

Linux kernel driver setup

The Linux SR1XX driver is an out-of-tree kernel driver, you need to patch the driver into your kernel.

For testing the NXP NavQPlus is used in combination with a Murata Type 2BP Evaluation kit

The NXPHovergames meta-nxp-mr Yocto image for the NXP NavQPlus already includes the patches to support the SR1XX kernel driver. But here are samples on how to patch your own kernel.

• 0004-nxp-sr1xx-uwb-driver.patch
• 0005-imx8mpnavq-enable-sr1xx-spi-driver-in-dts.patch

NavQPlus & Murata Type 2BP Evaluation kit hardware setup

To connect the Murata Type 2BP Evaluation kit easily to the NavQPlus there is a reference design opensource PCB adapter board schematic and fabrication files published. You will need to manufacture these yourself or reference the schematics to make your own manual inter-connection.

Installation

Clone this repository into your ROS2 workspace:

git clone https://github.com/NXPHoverGames/nxp-uwb-ros2 src/nxp-uwb-ros2

Install dependencies using rosdep:

rosdep install --from-paths src --ignore-src -r -y

Build the workspace:

colcon build

Usage

Running the Node

The primary executable, node, initializes and starts UWB ranging based on the specified parameters.

ros2 run nxp-uwb-ros2 node

Configuration

The node provides several parameters to configure the behavior of the driver. These can be set via a YAML file or command line arguments.

Parameters:

Parameter	Description	Default Value
role	Role of the UWB device	twr_initiator
device_mac_address	MAC address of the device	[0x1111]
dst_mac_address	Destination MAC addresses	[0x2222]
mac_is_extended	Whether MAC address is extended	false
channel_id	UWB channel ID	0x9
session_id	UWB session ID	1
ranging_interval	Ranging interval in milliseconds	50
position	Device position (used for anchors)	[]

Example YAML configuration file for TDoA controller:

role: "tdoa_dl_anchor_controller"
device_mac_address: [0x1111]
dst_mac_address: [0x2222, 0x3333]
mac_is_extended: false
channel_id: 9
session_id: 1
ranging_interval: 50
position: [0.0, 0.0, 0.0]

Launch the node with the configuration file:

ros2 run nxp-uwb-ros2 node --ros-args --params-file config.yaml

Roles

Role	Description	ROS2 Example Launch File
twr_initiator	Initiates Two-Way Ranging (TWR) measurements.	twr_initiator_launch.py
twr_responder	Responds to Two-Way Ranging (TWR) measurements.	twr_responder_launch.py
tdoa_dl_tag	Tag used in Downlink Time Difference of Arrival (TDoA DL).	tdoa_tag_launch.py
tdoa_dl_anchor_controller	Controller anchor in TDoA DL.	tdoa_controller_launch.py
tdoa_dl_anchor_controlee	Controlee anchor in TDoA DL.	tdoa_controlee_x_launch.py

Topics

The node publishes the following topics:

Topic Name	Message Type	Description
/sr1xx/<role>	uwb_msgs/UltraWideBandRanging	UWB ranging measurements and metadata

Scripts

The scripts folder contains useful script processing uwb_msgs/UltraWideBandRanging data

See Script README.md for more

Script	Short Description
twr_point_publisher.py	Converts Two-way ranging uwb_msgs/UltraWideBandRanging data to ROS2 geometry_msgs/PointStamped
ros_gz_twr_data_generator.py	Generates Two-way ranging uwb_msgs/UltraWideBandRanging data from Gazebo simulator
gz_twr_point.py	Takes GZ position data and revereses it into UWB TWR data
demo_control.py	Allows for controlling the B3RB by having it go through a list of defined points including navigating to a dynamic UWB point

Development

Code Structure

• src/sr1xx_node.cpp: Main implementation of the ROS2 node.
• src/sr1xx_driver.c: SR1XX driver implemenation.
• src/hal/: SR1XX Hardware abstraction layer and protocol implementations.
• standalone: SR1XX Standalone application for testing hardware functionality.
• launch: ROS2 Launch files examples to start the SR1XX in various ranging modes

Building

Ensure the workspace is built using colcon build. Add additional source files to CMakeLists.txt as needed.

License

This project is licensed under the Apache License, Version 2.0. See the LICENSE file for details.

Support

For questions or issues, please open an issue on the GitHub repository.