2 # -*- coding: iso-8859-15 -*-
10 from time import sleep
12 rospy.init_node('wifi_strength')
14 tfBuffer = tf2_ros.Buffer()
15 listener = tf2_ros.TransformListener(tfBuffer)
16 regex_lq = re.compile("Link Quality=(\d*)/(\d*)")
17 while not rospy.is_shutdown():
18 popen = subprocess.Popen("rtl_power -f 868.2M:868.5M:10k -g 42 -i 1".split(), stdout=subprocess.PIPE)
20 line = popen.stdout.readline()
23 power = line.replace("\n", "").split(",")[6:]
24 power = [float(s) for s in power]
25 pos = tfBuffer.lookup_transform("map", 'base_link', rospy.Time(0), rospy.Duration(1.0))
26 print '{"x":%.2f, "y":%.2f, "power": %s},' % (pos.transform.translation.x, pos.transform.translation.y, power)