AWR1642BOOST: AWR1843BOOST ROS Package for 3D Point Cloud

Rahul Kumar85

Part Number: AWR1642BOOST
Other Parts Discussed in Thread: AWR1843, IWR1443, AWR1843BOOST, AWR1443

Hi,

I'm able to view the 2d point cloud in ROS using AWR1843 EVM by creating an another launch file as shown below:

But to view a 3D point cloud when I create a configuration file using demo visualizer using 3tx antennas, the cfg file gets uploaded on the evm successfully but nothing is coming on the rviz window.

I want to see the 3d point cloud.

The .cfg file that is going on to the evm is the one show below:

Regards

Rahul

over 5 years ago

0 Jitendra Gupta over 5 years ago

TI__Guru 69070 points

Hi Rahul,
Is 3-tx configuration working with mmWAve Demo visualizer on your board?

Regards,
Jitendra

0 Rahul Kumar85 over 5 years ago in reply to Jitendra Gupta

Intellectual 890 points

Yes, it's working on demo visualizer.

0 Raghunandan Kamath over 5 years ago in reply to Rahul Kumar85

TI__Mastermind 22155 points

Rahul,
The ROS visualizer clearly mentions its for the 2D point cloud information.
We may have a new visualizer for the 3D point cloud that can take the "z" co-ordinate information and plot accordingly.

-Raghu

0 Rahul Kumar85 over 5 years ago in reply to Raghunandan Kamath

Intellectual 890 points

ROS visualizer set-up guide clearly says that it can be used for 3D Point Cloud Visualization too for the EVMs like IWR1443. Though I'm using a AWR1843BOOST EVM which also supports 3D point cloud, but there is no ROS package for it. As per guided on my previous query, I created a new roslaunch file.

0 Raghunandan Kamath over 5 years ago in reply to Rahul Kumar85

TI__Mastermind 22155 points

Rahul,
The AWR1443 is different variant of the AWR devices. The ROS viz works for the AWR1443. We still do not have the ROS viz for the AWR1843 variant.
There will be some differences in the output data format between the AWR1843 and the AWR1443 though both devices have 3rd Tx .

Please check the TIREX for any updates on the ROS viz specifically for the AWR1843 device.

-Raghu

0 Rahul Kumar85 over 5 years ago in reply to Raghunandan Kamath

Intellectual 890 points

can you ask some from TI who's working on these packages to guide me what to modify in the current package to get the 3D point cloud.
I'm able to upload the 3D configuration file successfully, but rviz is not displaying the point cloud. I have attached the images in the above questions
Regards

0 Raghunandan Kamath over 5 years ago in reply to Rahul Kumar85

TI__Mastermind 22155 points

Rahul,

Your best place to look for changes is the mmwave demo visualizer code. You can look at the mmwave.js in the demo visualizer to get idea on the 3D plotting and the object data format.

Thanks,
Raghu

0 Rahul Kumar85 over 5 years ago in reply to Raghunandan Kamath

Intellectual 890 points

Hi,

I just downloaded a config file from the demo visualizer and made a new launch for it, and i'm able to get a 3d PCD onto ROS.

Thanks,

Regards

Rahul

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AWR1642BOOST: AWR1843BOOST ROS Package for 3D Point Cloud