![]() ![]() (3) the phone is not reported before, which prevents repeated artifact report.the value is set to 20 because sometimes bluetooth connection to a phone is unstable and got lost for about 10 seconds. (2) the phone is not connected for 20 seconds, which makes sure that the vehicle is indeed already far away from the phone and all the possible data is gathered.(1) the maximum rssi value of that device is above a threshold, which prevents reporting a phone that is always far away from the vehicle during flight and thus has large position estimation error.The /bluetooth_phone_report topic is of message type filtered_art.msg, it reports the estimated postion of a phone if:. ![]() The /phone_position publishes information about discovered bluetooth devices: address, name, category, estimated position, rssi value and maximum rssi value.It publishes three topics: /phone_position, /bluetooth_phone_report and /phone_marker. It should be used together with the usb bluetooth dongle, because the bluetooth module on the NUC on the vehicle is often bad for discovering nearby bluetooth devices, because of the block of bluetooth signal by the vehicle body. The package does device discovery and getting the RSSI value of the device at the same time, only bluetooth device in the "Phone" category is considered. Experiments show that if the vehicle's cloest distance to the phone is about 1.8m, the position estimation error of this package is about 2m. The position of the phone is estimated to be the centroid of the vehicle's positions with the largest RSSI value. It subscribes to the position message of the vehicle and publishes the name, category (phone, laptop, ect.), address, RSSI and estimated position of each detected phones. The ROS node searchs for nearby bluetooth devices and gets their RSSI value, at a custom specified frequency (maximum posible rate is about 800Hz, the default rate is 50Hz). There is only one ROS node in the package - phonePosEst. ![]() Phone: (510)3651730 Email: Repo contains a ROS package - phone_localization, which uses bluetooth RSSI to localize phones. ![]() Please contact Xiangyu Wu if you have trouble with this Repo. ![]()
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