scripts/wifistrength.py

   1 #!/usr/bin/env python
   2 # -*- coding: iso-8859-15 -*-
   3
   4 import os
   5 import re
   6 import rospy
   7 import tf
   8 import tf2_ros
   9 from time import sleep
  10
  11 rospy.init_node('wifi_strength')
  12
  13 tfBuffer = tf2_ros.Buffer()
  14 listener = tf2_ros.TransformListener(tfBuffer)
  15 regex_lq = re.compile("Link Quality=(\d*)/(\d*)")
  16 while not rospy.is_shutdown():
  17         f = os.popen("export LANG=C; /sbin/iwconfig wlan0")
  18         for line in f:
  19                 line = line.strip()
  20                 match_lq = regex_lq.match(line)
  21                 if match_lq is not None:
  22                         lq = float(match_lq.group(1)) / float(match_lq.group(2))
  23                         pos = tfBuffer.lookup_transform("map", 'base_link', rospy.Time(0), rospy.Duration(1.0))
  24                         print "{'x':%.2f, 'y':%.2f, 'link':%.2f}," % (pos.transform.translation.x, pos.transform.translation.y, lq)
  25                         sleep(0.5)