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Only released in EOL distros:   groovy

Installation

rosbuild specific

svn co http://alufr-ros-pkg.googlecode.com/svn/trunk/freiburg_tools/gaussian_process
svn co http://alufr-ros-pkg.googlecode.com/svn/trunk/wifi_tools
rosdep install gaussian_process
sudo apt-get install libiw-dev
rosmake wifi_tools

Example

wifi_stumbler

~/ros_workspace/wifi_tools# rosrun wifi_tools wifitumbler
[ INFO] [1370261175.398384924]: mac_addr=00:23:CD:14:E1:DF
[ INFO] [1370261175.398595103]: mac_addr=E4:CE:8F:69:92:12
[ INFO] [1370261175.398655961]: mac_addr=00:25:4B:1A:FE:11
[ INFO] [1370261175.398707724]: mac_addr=00:1B:86:3B:32:32
[ INFO] [1370261175.398753935]: Found 4 AP.

This node has to be run by root authority.

Nodes

wifi_stumbler

wifi_stumbler node collects wifi signal data.

Published Topics

wifi_tools/wifi_data (wifi_tools/WifiData)

• The set of wifi signal strengthes and mac addresses.

wifi_mapping

wifi_mapping node associate wifi data to tf

Subscribed Topics

wifi_tools/wifi_data (wifi_tools/WifiData)

• wifi signal data.

tf (tf/tfMessage)

• This node needs /odom and /base_link transforms.

Services

/wifi_mapping/o2file (std_srvs/Empty)

• Output wifi map to .pcd file.

wifi_gaussian_process

wifi_gaussian_process node publish mean and covariance of wifi signals expressed by gaussian_process.

Published Topics

wifi_gpmean (sensor_msgs/PointCloud2)

• A mean map of wifi signal. Topic names are suffixed by mac address.

wifi_gpcov (sensor_msgs/PointCloud2)

• A covariance map of wifi signal. Topic names are suffixed by mac address.

Parameters

~gp_x_min (double, default: 0.0)

• Minimum range (x) of GP maps.

~gp_x_max (double, default: 10.0)

• Maximum range (x) of GP maps.

~gp_y_min (double, default: 0.0)

• Minimum range (y) of GP maps.

~gp_x_max (double, default: 10.0)

• Maximum range (y) of GP maps.

~gp_x_interval (double, default: 1.0)

• Interpolation interval (x).

~gp_y_interval (double, default: 1.0)

• Interpolation interval (y).

~path_wifimap (string, default: "$(find wifi_tools)/map")

• Which file (.pcd) to use for the gp map.

Questions & Bugs

ito[at]informatik.uni-freiburg.de