Many recent works have explored using WiFi-based sensing to improve SLAM, robot manipulation, or exploration. Moreover, widespread availability makes WiFi the most advantageous RF signal to leverage. But WiFi sensors lack an accurate, tractable, and versatile toolbox, which hinders their widespread adoption with robot's sensor stacks. We develop WiROS to address this immediate need, furnishing many WiFi-related measurements as easy-to-consume ROS topics. Specifically, WiROS is a plug-and-play WiFi sensing toolbox providing access to coarse-grained WiFi signal strength (RSSI), fine-grained WiFi channel state information (CSI), and other MAC-layer information (device address, packet id's or frequency-channel information). Additionally, WiROS open-sources state-of-art algorithms to calibrate and process WiFi measurements to furnish accurate bearing information for received WiFi signals. The open-sourced repository is: https://github.com/ucsdwcsng/WiROS

翻译：近年来，许多研究探索了利用基于WiFi的感知来改进SLAM、机器人操作或探索。此外，WiFi的广泛可用性使其成为最值得利用的射频信号。但WiFi传感器缺乏精确、易处理且多功能的工具箱，这阻碍了其与机器人传感器堆栈的广泛集成。我们开发了WiROS以应对这一迫切需求，将多种WiFi相关测量数据以易于使用的ROS话题形式提供。具体而言，WiROS是一个即插即用的WiFi感知工具箱，能够获取粗粒度的WiFi信号强度（RSSI）、细粒度的WiFi信道状态信息（CSI）以及其他MAC层信息（设备地址、数据包ID或频率信道信息）。此外，WiROS开源了最先进的算法，用于校准和处理WiFi测量值，从而为接收到的WiFi信号提供精确的方位信息。开源代码仓库地址为：https://github.com/ucsdwcsng/WiROS