ibeacon_ros

beacon_data_topic_publisher

Preparations

download

cd \your catkin workspace
git clone https://www.github.com/YeongJunKim/ibeacon_ros

pre-install

sudo apt-get install libbluetooth-dev
sudo apt-get install python-pip

pip module

sudo pip install bluepy

other application

https://github.com/jm-szlendak/robot-ble-localization.git

&

iBeacon-Scanner-

permission

sudo setcap 'cap_net_raw,cap_net_admin+eip' file
sudo setcap 'cap_net_raw,cap_net_admin+eip' `which hcitool`
sudo setcap 'cap_net_raw,cap_net_admin+eip' /usr/local/lib/python2.7/dist-packages/bluepy/bluepy-helper

python pip localtion

pip show bluepy

Genertate Matlab Message

Run message_gen.m in ./matlab. Then follow up custom meesage guild in Command Window.

Execution

Beacon scanner

Get Beacon data from hci & publish.

rosrun ibeacon_ros bluepy_scan.py

Message.

factory_id: "4c000215"
ibeacon_id: "74278bdab64445208f0c720e00000003"
major: "0091"
minor: "0091"
mac: "50:51:a9:ff:8f:18"
txpower: "c5"
RSSI: -54
factory_id: "4c000215"
ibeacon_id: "74278bdab64445208f0c720e00000002"
major: "0001"
minor: "0091"
mac: "b4:52:a9:1b:56:a7"
txpower: "c5"
RSSI: -55
factory_id: "4c000215"
ibeacon_id: "74278bdab64445208f0c720e00000001"
major: "0001"
minor: "0001"
mac: "b4:52:a9:1b:55:20"
txpower: "c5"
RSSI: -58
factory_id: "4c000215"
ibeacon_id: "74278bdab64445208f0c720e00000002"
major: "0001"
minor: "0091"
mac: "b4:52:a9:1b:56:a7"
txpower: "c5"
RSSI: -58
...

Curve fitting beacon rssi - tx power model

If you want to curve fitting for your own beacon device, Then follow up this section.

1. Excute ROS node.

rosrun ibeacon_ros bluepy_scan.py

2. Run fitting in matlab environment.

Run matlab file: ./matlab/curve fitting/fitting_main.m

tip. You need to change beacon information in 'fitting_main.m'

- in ./matlab/curve fitting/fitting_main.m
- You need to change beacon_addr{:}.
app.beacon_num = 4;
app.beacon_addr= cell(app.beacon_num,1);
app.beacon_addr{1} = "11:22:33:44:55:66";
app.beacon_addr{2} = "b4:52:a9:1b:56:11";
app.beacon_addr{3} = "50:55:a9:11:8f:33";
app.beacon_addr{4} = "b4:52:a9:1a:33:f2";

3. Run fitting.

Run matlab file: ./matlab/curve fitting/fitting.m