Software to deal with localization using Bluetooth Low Energy beacons RSSI (radio signal strength)

1. Turn on Bluetooth
2. Run roslaunch beacon_listener beacon_listener.launch
3. If encountered problems, refer to beacon_listener readme
4. Run roslaunch rssi2distance rssi2distance.launch, providing config file in --map argument (refer to rssi2distance/config/default_map.yaml for syntax)
5. Run rosrun trilateration trilateration.py

For now, pose is published to /beacon_localization/bl_pose topic and to bl_pose TF frame

• to use PyCharm, add workspace 'setup.bash' sourcing to .bashrc, then start PyCharm with:

$ bash -i -c "/opt/pycharm-community/bin/pycharm.sh"

• when ROS does not see any nodes in package, just add executable attribute to node files : $ chmod +x trilateration/scr/trilateration.py