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IWR6843ISK: No point cloud in RVIZ visualizer

Aleena N A
Intellectual 530 points
Part Number: IWR6843ISK

Hello,

I am using ROS melodic to obtain the point cloud using IWR6843ISK. According to the documentation I have re-configured the device with cfg file created using mmWave Demo visualizer. But nothing displays in the RVIZ visalizer. There is no error in the terminal running. I am attaching 2 cfg files I have used.

 This is the default cfg file used.

 This is the cg file created by mmwave demo visalizer.

Please help me to solve this.

Thanks in advance.

Thanks and Regards,

Aleena N A

  • 0
    TI__Expert 7510 points

    Aleena:

    The OOB/Demo visualizer provide access to all TLV structures as outlined at the following resource:

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

    The ROS driver example does not support all TLVs by default. It does how ever provide the skeleton code for this to be parsed, but that will have to be done on your end once you have properly understood how the ROS driver works as is.

    Best regards,

    Connor Desmond

  • 0 in reply to Connor Desmond
    Intellectual 530 points

    Hello,

    According to the documentation

     we can change the file. But it doesn't work. Is there any way to solve this?

    Thanks and Regards,

    Aleena N A

  • 0 in reply to Aleena N A
    TI__Expert 7510 points

    Aleena:

    Understood. The ROS driver example is to demonstrate point cloud visualization. Other TLVs are not supported directly. With the modified .cfg file that you have shared, have you verified that you can  use that .cfg file in the Demo Visualizer?

    Best regards,

    Connor Desmond

  • 0 in reply to Connor Desmond
    Intellectual 530 points

    Hello, 

    I haven't tried that. I will look that.

    So if I have to use visualizer for a range of 30m it won't work?

    Thanks and Regards,

    Aleena N A

  • 0 in reply to Aleena N A
    TI__Expert 7510 points

    Aleena:

    "So if I have to use visualizer for a range of 30m it won't work?"

    Configuring our device involves a lot of tradeoffs, so depending on the configuration this statement could be true or false.

    If you are trying to get data for any TLV other than point cloud + side info then that needs to be parsed and packaged into a ROS message and then visualized separately. If the .cfg works with the demo visualizer in terms of displaying the point cloud then there should be no barrier to using the ROS driver to visualize that same point cloud.

    Let me know how this goes.

    Best regards,

    Connor Desmond