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

The technology consists of sensors that use WiFi signals to help the robot map where it's going. Most systems rely on optical light sensors such as cameras and LiDARs. In this case, the so-called "WiFi sensors" use radio frequency signals rather than light or visual cues to see, so they can work in conditions where cameras and LiDARs struggle -- in low light, changing light, and repetitive environments such as long corridors and warehouses. And by using WiFi, the technology could offer an economical alternative to expensive and power hungry LiDARs, the researchers noted. A team of researchers from the Wireless Communication Sensing and Networking Group, led by UC San Diego electrical and computer engineering professor Dinesh Bharadia, will present their work at the 2022 International Conference on Robotics and Automation (ICRA), which will take place from May 23 to 27 in Philadelphia.