  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
