# nlink_parser

**Repository Path**: wtp95/nlink_parser

## Basic Information

- **Project Name**: nlink_parser
- **Description**: Nooploop的UWB源码
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No

## Statistics

- **Stars**: 0
- **Forks**: 0
- **Created**: 2020-08-19
- **Last Updated**: 2024-05-31

## Categories & Tags

**Categories**: Uncategorized

**Tags**: None

## README

![Logo of the project](http://ftp.nooploop.com/media/image/nooploop.png)
# nlink_parser ROS Package

## Overview

This package is developed for [LinkTrack](https://www.nooploop.com/) ,[LinkTrack-AOA](https://www.nooploop.com/linktrack-aoa) and [TOFSense](https://www.nooploop.com/tofsense) written in C++, you can get the data from device you need directly without additional process.

Refer to [NLink document](http://ftp.nooploop.com/software/products/uwb/doc/NLink_V1.3.pdf)

**Keywords:** ros, nlink parser, serial

### License

The source code is released under a [BSD 3-Clause license](LICENSE).


The nlink_parser package has been tested under [ROS] Kinetic and Ubuntu 16.04. 


## Installation

### Building from Source

#### Dependencies

- [Robot Operating System (ROS)](http://wiki.ros.org) (middleware for robotics),
- [Serial Library](https://github.com/nooploop-dev/serial.git)

    Please make sure you have the permission to read or write to serial device, refer to [Fix serial port permission denied errors on Linux](https://websistent.com/fix-serial-port-permission-denied-errors-linux/)

#### Building

To build from source, clone the latest version from this repository into your catkin workspace and compile the package using

    cd catkin_workspace/src
    git clone --recursive https://github.com/nooploop-dev/nlink_parser.git 
    cd ../
    catkin_make
    source devel/setup.bash

### Unit Tests

Run the unit tests with

    roscore
    catkin_make run_tests

## Nodes

### linktrack

Read and unpack serial data from device.When a protocol passes verification, topic of it will be registered and published. 

#### Usage

Run with

    roslaunch nlink_parser linktrack.launch

Param
   - **`port_name`** serial port name of the device. Default: `/dev/ttyUSB0`.
   - **`baud_rate`** baud rate of the device. Default: `921600`.
  
Run msg converter for RVIZ and view it

    roslaunch nlink_parser linktrack_rviz.launch

#### Subscribed Topics

* **`/nlink_linktrack_data_transmission`** ([std_msgs::String])

	You can write data to the device by sending a message to this topic


#### Published Topics

  - **`/nlink_linktrack_anchorframe0`** ([nlink_parser::LinktrackAnchorframe0])
  - **`/nlink_linktrack_tagframe0`** ([nlink_parser::LinktrackTagframe0])
  - **`/nlink_linktrack_nodeframe0`** ([nlink_parser::LinktrackNodeframe0])
  - **`/nlink_linktrack_nodeframe1`** ([nlink_parser::LinktrackNodeframe1])
  - **`/nlink_linktrack_nodeframe2`** ([nlink_parser::LinktrackNodeframe2])
  - **`/nlink_linktrack_nodeframe3`** ([nlink_parser::LinktrackNodeframe3])


### linktrack_aoa

same as linktrack.

#### Usage

Run with

    roslaunch nlink_parser linktrack_aoa.launch

Param
   - **`port_name`** serial port name of the device. Default: `/dev/ttyUSB0`.
   - **`baud_rate`** baud rate of the device. Default: `921600`.
  
#### Subscribed Topics

* **`/nlink_linktrack_data_transmission`** ([std_msgs::String])

	You can write data to the device by sending a message to this topic


#### Published Topics

  - **`/nlink_linktrack_nodeframe0`** ([nlink_parser::LinktrackNodeframe0])
  - **`/nlink_linktrack_aoa_nodeframe0`** ([nlink_parser::LinktrackAoaNodeframe0])


### tofsense

same as linktrack. 

#### Usage

Run with

    roslaunch nlink_parser tofsense.launch

Param
   - **`port_name`** serial port name of the device. Default: `/dev/ttyUSB0`.
   - **`baud_rate`** baud rate of the device. Default: `921600`.
   - **`inquire_mode`** if true, automatic query nodes and output them together. Default: `true`.

#### Published Topics

  - **`/nlink_tofsense_cascade`** ([nlink_parser::TofsenseCascade]) 
  - **`/nlink_tofsense_frame0`** ([nlink_parser::TofsenseFrame0])


## Related Projects
  - [nlink_unpack](https://github.com/nooploop-dev/nlink_unpack) Used for unpacking nlink protocols written in C.(submodule of this repository)
  - [nlink_example](https://github.com/nooploop-dev/nlink_example) Example of how to use nlink_parser ROS package in another package.



## Bugs & Feature Requests

Please report bugs and request features using the [Issue Tracker](https://github.com/nooploop-dev/nlink_parser/issues).