Follow me AMR module - UWB
General Description
The follow-me AMR module using UWB system is a real-time tracking system that sends human positions to an AMR to follow. The humans' positions are read through UDP packets in real-time from the UWB system. These positions are gathered, filtered and stored in order to send them to the robot only when the operator starts the follow-me module in ROS2.
| Resource | Link |
|---|---|
| Source code | Link to source code |
Contact
The following table includes contact information of the main developers in charge of the component:
| Name | Organisation | |
|---|---|---|
| María del Mar Plaza | mar.plaza@ai2.upv.es |  |
License
LGPL
Technical Foundations
Integrated and Open Source Components
Overview
The follow-me module integrates UWB sensor data into ROS2 module to send navigation goals to AMR. No other external libraries are used in this module.
Pre-existing Components
ROS2 Humble
Source
Description
ROS 2 Humble Hawksbill is a long-term support (LTS) release of the ROS 2, designed to facilitate the development of robotic applications. It provides a stable and reliable platform for building complex robot systems across various industries, including autonomous vehicles, drones, and industrial robots. Humble integrates key features like enhanced real-time capabilities, improved security, better performance, and expanded support for multiple operating systems.
Purpose in AI-PRISM
ROS2 Humble provides the required libraries and tools that compose the platform in which the applications for data acquisition, processing and control will be deployed.
License
Open base - BSD
How to install
Every AI-PRISM component is installed using the Cluster management service. During the installation process, the user needs to configure a set of high-level parameters. Provide here a description of the parameters that the user needs to fill in.
How to use
The follow-me module uses UDP protocol socket to gather real-time sensor data from an UWB system. The module starts establishing the connection with the UWB system, then it reads data, filters and stores. After data being stored, it calculates if the readings have significant movement in comparison to the previous readings and if so, it sends it to the AMR as a navigation goal. The robot starts following its target avoiding obstacles. The module can be started and stopped by the operator just pressing the tag button at anytime. Also, this module could be started/stopped using the PRO Orchestrator. To deploy the follow-me module it has to be launched in the AMR. More information can be found in this link