ROS-BLE-Device-scanner

Node that that scans for and publishes BLE devices Tested with ROS Kinetic with Ubuntu 16.04 and Raspbian

Install

Install pyblue with pip (Must be python 2.7) pip install pyblue Than download this package and put it in your catkin_ws/src go to catkin_ws and build catkin_make

!IMPORTANT You need to run this as root (with sudo) or you have to change your bluetooth permissions so your user can access bluetooth

How to use

roslaunch ble_device_scanner ble_scanner.launch After that you can listen to it using: rostopic echo ble_devices

###Example output

devices: 
  - 
    rssi: "-68"
    addr: "4d:dd:35:af:a2:e8"
    data: 
      - 
        adtype: "3"
        description: "Complete 16b Services"
        value: "0000fe9f-0000-1000-8000-00805f9b34fb"
      - 
        adtype: "22"
        description: "16b Service Data"
        value: "9ffe025a535579743475695f75670000017110fdcc85"
      - 
        adtype: "255"
        description: "Manufacturer"
        value: "e0000202ca94ee8a"
  - 
    rssi: "-64"
    addr: "51:cd:2f:8f:64:4c"
    data: 
      - 
        adtype: "1"
        description: "Flags"
        value: "1a"
      - 
        adtype: "10"
        description: "Tx Power"
        value: "0c"
      - 
        adtype: "255"
        description: "Manufacturer"
        value: "4c0010064b1eaff9a9bb"
  - 
    rssi: "-69"
    addr: "59:73:a7:5d:12:68"
    data: 
      - 
        adtype: "1"
        description: "Flags"
        value: "1a"
      - 
        adtype: "10"
        description: "Tx Power"
        value: "0c"
      - 
        adtype: "255"
        description: "Manufacturer"
        value: "4c001005471cfe5900"
  - 
    rssi: "-56"
    addr: "0c:c8:d2:34:1b:c1"
    data: 
      - 
        adtype: "255"
        description: "Manufacturer"
        value: "060001092002614cbc4fb7b91fe9ae8c0141965120c6df27f94408e411"
---