UWB Following Services

The UWB system consists of UWB anchor and UWB tags, utilizing ultra-wideband positioning technology to provide 2D pose information (including standard Cartesian coordinates and Euclidean coordinates) of tags relative to the anchor. Collected UWB data is converted into ROS 2 message format, Published via DDS for real-time distribution.

To leverage UWB data for secondary development, simply subscribe to the corresponding DDS topic.

UWB tag	UWB anchor

No	Description
1	Power Indicator
2	Power Button
3	Charge Port

Usage Instructions

To use the feature, simply activate the UWB bracelet (tag), and the robot will automatically acquire the position information of the bracelet to enable autonomous following.

Likewise, when the UWB bracelet (tag) is manually turned off, the robot will automatically disable the UWB following service and stop following.

Operating Instructions

UWB Tracking Function

• Activation

Power on the UWB wristband (Tag) → The robot automatically detects its position and initiates autonomous following.

• Deactivation

Turn off the UWB wristband (Tag) → The robot immediately stops tracking and disables the following service.

UWB Following Service Requirements

For proper operation, ensure the following systems are functioning:

1. Robot Odometry
2. LiDAR System

ssh daystarp@192.168.100.105
docker exec -it uwb_sensor bash
ros2 topic list

If the following ROS topics are active, the device is fully functional:

• /IS_00x/leg_odom → Leg odometry data streaming
• /IS_00x/livox_scan →** **LiDAR point cloud active

完整操作流程：

1. 通电并启动机器人（手柄操作<上使能、行走>）
2. 切换到导航服务（APP右下角<遥控器、导航>）
3. 进入感知背包NUC主机(WIFI:IS_PLUS_010)

Standard Operating Procedure

1. Power On & Activate Robot

• Use controller to:
  • Enable motors
  • Activate walking mode

2. Enable Navigation Service

• Use controller to:
  • Tap bottom-right mode switch to activate "Navigation Mode"

3. Access Perception Backpack

• On your laptop:
  • Scan for WiFi "IS_PLUS_010"
• Establish SSH connection:

ssh daystarp@192.168.100.105
docker restart navigation
docker exec -it uwb_follow bash

4. Activate UWB Following Service

source install/setup.bash
./scripts/run_uwb_server.sh

5. Terminate UWB Service

Turn off UWB wristband (Tag) or shut down UWB Following Service