README

This repository includes several tools and ROS nodes to process FTM ranging values.

The nodes included in the repository are:

• ESP32S2FTMReader This node reads the frames from a FTM communication between a ESP32 S2 and another FTM device.

Dependencies

GTEC ROS TOA package has the next dependencies:

• gtec_msgs Another GTEC ROS project with a set o custom messages definitions. Available https://github.com/GTEC-UDC/rosmsgs

Additionally, the ESP32 S2 must be loaded with the code available here: https://github.com/GTEC-UDC/esp32s2-ftm-tag

Building the nodes

To build the nodes, source code must be cloned inside a catkin workspace on a ROS installation (see Creating a workspace for catkin). If the catkin work space is located at ~/catkin_ws then:

$ cd ~/catkin_ws/src
$ git clone https://github.com/GTEC-UDC/rosftm.git

Then catkin_make must be used to build the nodes:

$ cd ~/catkin_ws
$ catkin_make

Launching the nodes

There are several .launch files in the project to launch the nodes using the roslaunch command.

Launching ESP32S2FTMReader node:

$ roslaunch gtec_ftm esp32s2ftmtagreader.launch

The launcher accepts the parameter serial, that points to the port where the ESP32 is connected. By default: /dev/ttyUSB0.

Cite

The code in this repository is related to the following work:

V. Barral Vales, O. C. Fernández, T. Domínguez-Bolaño, C. J. Escudero and J. A. García-Naya, "Fine Time Measurement for the Internet of Things: A Practical Approach Using ESP32," in IEEE Internet of Things Journal, vol. 9, no. 19, pp. 18305-18318, 1 Oct.1, 2022, doi: 10.1109/JIOT.2022.3158701.

If you make use of this code, a citation is appreciated.