How can get the distance and angle 6843_multi_2d_0.launch file

nabih pico

Other Parts Discussed in Thread: MMWAVEICBOOST, IWR6843ISK

Im using IWR6843ISK with MMWAVEICBOOST, i download https://dev.ti.com/tirex/explore/node?node=AOVWxEvg-HcESecamNaaLg__VLyFKFf__LATEST this packge to use the RADAR in ros then i launched this file

roslaunch ti_mmwave_rospkg 6843_multi_2d_0.launch,

this is the information of the topic

rostopic echo /ti_mmwave/radar_scan

header:

seq: 688

stamp:

secs: 1625651852

nsecs: 195743514

frame_id: "/ti_mmwave_0"

point_id: 5

x: 6.54830789566

y: 3.18597197533

z: 0.0

range: 0.0

velocity: 0.0

doppler_bin: 0

bearing: 0.0

intensity: 0.0

I want to know if this topic provide the distances and the angle to detect obstacles, if the response yes where is the information and finally why the range in the topic every time is zero?

over 2 years ago

0 Connor Desmond over 2 years ago

TI__Expert 7510 points

Hello,

Since you are using a 2D launch file it makes sense that your z component is 0. With regards to what is going on with the other parameters I would suggest to look in the code where the message is being published and see what you can find. With regards to range and angle I would suggest taking the rectangular coordinates (x,y) and converting them to (r, theta).

Best regards,

Connor Desmond

0 nabih pico over 2 years ago in reply to Connor Desmond

Prodigy 30 points

What do the x and y values mean in the topic? With these values, I can determine (r, theta) is correct but what do these values mean? and what relationship have with point_id in the topic? I need to know the operating range that I understand is -60 to +60 degrees on the y axis, and all possible distances to calculate between the radar and the surface. So how could determine all the distances from the radar and the surface? thank so much for your help

0 Connor Desmond over 2 years ago in reply to nabih pico

TI__Expert 7510 points

Hello,

All position and radial measurements are relative to the sensor. Please refer to the following resource to find a visual representation of the radar's coordinate system both in rectangular and spherical.

OOB Documentation:
<MMWAVE_SDK_INSTALL_PATH>\packages\ti\demo\xwr68xx\mmw\docs\doxygen\html\index.html

Best regards,

Connor Desmond

0 nabih pico over 2 years ago in reply to Connor Desmond

Prodigy 30 points

Thanks for your response where can find

OOB Documentation:
<MMWAVE_SDK_INSTALL_PATH>\packages\ti\demo\xwr68xx\mmw\docs\doxygen\html\index.html

0 Connor Desmond over 2 years ago in reply to nabih pico

TI__Expert 7510 points

Hello,

Have you installed the MMWAVE SDK? You will have to do that to be able to get to the following documentation.

Best regards,

Connor Desmond

0 nabih pico over 2 years ago in reply to Connor Desmond

Prodigy 30 points

No no yet could you send me the link of sdk for Iwr6843isk for ubuntu

0 Connor Desmond over 2 years ago in reply to nabih pico

TI__Expert 7510 points

Here you go!

https://www.ti.com/tool/MMWAVE-SDK

Best regards,

Connor Desmond

0 nabih pico over 2 years ago in reply to Connor Desmond

Prodigy 30 points

Thank you very much for your help I just installed mmwave_sdk_03_05_00_04, but I can't find any launch file, where can I find the 2d file specifically, very kind for your answer

0 Connor Desmond over 2 years ago in reply to nabih pico

TI__Expert 7510 points

Hello,

The launch files for the our robotics offering is provided in our git repo as is described in the ROS driver User Guide. This is not included in the SDK. The SDK has documentation about how the coordinate system for the radar is laid out please refer to that resource.

Best regards,

Connor Desmond

RF & microwave

RF & microwave forum

How can get the distance and angle 6843_multi_2d_0.launch file