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RF sensor msgs for ROS

A catkin package that provides definitions for CSI and AOA messages. To be used in conjunction with the wiros_csi_node and wiros_processing_node.

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Message Formats

Wifi Message

Below are the fields of the WiFi messages and their meanings.

  • uint8 ap_id : user-defined id to distinguish data from mulitple AP's.
  • uint8 txmac[] : Should be of length 6, the MAC address of the transmitter
  • uint8 chan : Channel number
  • uint32 n_sub : Number of subcarriers (including pilot subcarriers and channel edges)
  • uint8 n_rows : Number of rows of the CSI matrix (number of receivers)
  • uint8 n_cols : Number of cols of the CSI matrix (number of transmitters). Note that the ASUS will always detect 4 transmitters but some may be zero. In the future the node may automatically remove 0 transmitters.
  • uint8 bw : Bandwidth in MHz
  • uint8 mcs : Only used for quantenna
  • int32 rssi : Signal strength in dB, measured for each receive antenna
  • uint32 fc : Frame control byte
  • uint32 seq : Frame sequence number/packet number
  • float64[] csi_real : Real part of Channel state information (CSI)
  • float64[] csi_imag : Imaginary part of CSI
  • string rx_id : IP of the asus that received the packet. This can be used to figure out which compensation data to apply.
  • uint32 msg_id : Used for quantenna

The real[] and imag[] arrays are an n_sub x n_rx x n_tx 3-d array stored in fortran order (so, all subcarriers for a given rx-tx pair are stored next to eachother, and all receiver's subcarriers for a given tx are stored next to eachother.) So you can reshape them in python as

reshaped_array = flattened_array.reshape((n_sub, n_rx, n_tx), order='F')

Bearing Message

Below are the fields of the Bearing message and their meaning

  • uint8 ap_id: AP identifier which collected the CSI data, sequential starting from 0, up to (total number of AP's - 1)
  • uint8[] txmac: Should be of length 6, the MAC address of the transmitter
  • uint8 n_tx: number of antennas on the transmitter antenna
  • uint8 n_rx: number of antennas on the receiver antenna
  • uint32 seq: packet number
  • int32[] rssi: Signal strength in dB, measured for each receive antenna
  • float64[] aoa: Angle of arrival in the coordinates of the receiving WiFi radio for each transmit antenna. If CSI is averaged across the transmitter antennas, then all the values will be equal.
  • float64[] aod: Angle of departure in the coordinates of the transmitting WiFi radio.