AWR1642BOOST-ODS: ROS pointcloud visualizer with AWR1642BOOST-ODS

Harish More

Part Number: AWR1642BOOST-ODS
Other Parts Discussed in Thread: UNIFLASH

Hii,

I am working on the implementation of ROS point cloud visualizer with AWR1642BOOST-ODS mmWave Radar.

As ROS does not directly support to AWR1642BOOST-ODS, I am trying to customize code for ROS point cloud visualizer with AWR1642BOOST-ODS using the following link.

https://e2e.ti.com/support/sensors/f/1023/t/725262?-FAQ-Linux-AWR1642BOOST-ROS-Development-and-Customization

But I am not getting exactly how can I change header format in ROS package ti_mmwave_rospkg according to data format supported by AWR1642BOOST-ODS.

I am following below link to learn about data/header format of AWR1642BOOST-ODS

http://dev.ti.com/tirex/explore/node?node=AGQLWBtluPOb4IBBpo4JYw__AocYeEd__LATEST

How do I need to customize my code which supported by AWR1642BOOST-ODS?

Thanks & Regards,

Harish

over 4 years ago

0 Cesar over 4 years ago

TI__Guru*** 138359 points

Hi,

Unfortunately our team does not have experience with ROS interface since none of our demos support ROS.

I will let the forum community provide support for this request

thank you

Cesar

0 Harish More over 4 years ago in reply to Cesar

Prodigy 230 points

Hi Cesar,

I successfully implemented ROS point cloud visualizer demo using the following ti_mmWave_rospkg package.

https://github.com/ibcn-cloudlet/ti_mmwave_rospkg

Using this library I implemented ROS point cloud visualizer on AWR1642BOOST-ODS radar.

Thank you for your support.

Thanks & Regards,

Harish

0 Cesar over 4 years ago in reply to Harish More

TI__Guru*** 138359 points

Hi,

This is good news!

Would it be possible to share your changes so the rest of the mmwave forum community can benefit from it?

thank you

Cesar

0 Harish More over 4 years ago in reply to Cesar

Prodigy 230 points

Hii Cesar,

Here is how it works for me,

1)Cloned ti_mmwave_rospkg (https://github.com/ibcn-cloudlet/ti_mmwave_rospkg.git ) into catkin_ws/src folder.

2)Installed mmWave SDK version 2.0.0.4 in windows and flashed xwr16xx_mmwave_demo.bin file on AWR1642BOOST-ODS device using uniflash.

3)Saved configuration of chirp using https://dev.ti.com/gallery/view/mmwavebeta/mmWave_Demo_Visualizer_Record/ver/2.0.0/ mmWaveDemoVisualizer.

4)Replaced the config i.e.cfg file under the folder catkin_ws/src/ti_mmwave_rospkg/cfg with 1642es2_long_range.cfg

5)Then, just launch 1642es2_long_range.launch file using roslaunch ti_mmwave_rospkg 1642es2_long_range.launch.

6)It works for AWR1642BOOST-ODS devices too.

Thanks & Regards,

Harish

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AWR1642BOOST-ODS: ROS pointcloud visualizer with AWR1642BOOST-ODS