From: Erik Andresen <erik@vontaene.de>
Date: Fri, 5 Apr 2019 20:07:13 +0000 (+0200)
Subject: Added rtl_sdr_strength.py
X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=commitdiff_plain;h=55f32e3e4f36599dcd866adb64b75c9d905f8358;hp=e46de78ee34c663f5ac1ceb0656acd0cf9370288

Added rtl_sdr_strength.py
---

diff --git a/scripts/rtl_sdr_strength.py b/scripts/rtl_sdr_strength.py
new file mode 100755
index 0000000..5e09c52
--- /dev/null
+++ b/scripts/rtl_sdr_strength.py
@@ -0,0 +1,27 @@
+#!/usr/bin/env python
+# -*- coding: iso-8859-15 -*-
+
+import sys
+import subprocess
+import re
+import rospy
+import tf
+import tf2_ros
+from time import sleep
+
+rospy.init_node('wifi_strength')
+
+tfBuffer = tf2_ros.Buffer()
+listener = tf2_ros.TransformListener(tfBuffer)
+regex_lq = re.compile("Link Quality=(\d*)/(\d*)")
+while not rospy.is_shutdown():
+	popen = subprocess.Popen("rtl_power -f 868.3M:868.4M:10k -g 42 -i 1".split(), stdout=subprocess.PIPE)
+	while True:
+		line = popen.stdout.readline()
+		if line == "":
+			break
+		power = line.replace("\n", "").split(",")[6:]
+		power = [float(s) for s in power]
+		pos = tfBuffer.lookup_transform("map", 'base_link', rospy.Time(0), rospy.Duration(1.0))
+		print '{"x":%.2f, "y":%.2f, "power": %s},' % (pos.transform.translation.x, pos.transform.translation.y, power)
+		sys.stdout.flush()