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IWR6843ISK: Ubuntu and ROS

Mark Philip Felipe
Genius 10820 points
Part Number: IWR6843ISK

Hi Team, seeking for your assistance.

They have IWR6843ISK RADAR, using ubuntu and ROS, they want to recieve  the distance and the position in degree o radians in 2d.

As per customer:
-im using this launch 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 can i receive the information of the distances and the position of the object?
the radar that im using is IWR6843ISK

Thank you in advance.

-Mark

  • 0
    TI__Mastermind 23725 points

    Hello

    Have you been able to get the ROS offering for mmWave demos working and   see what information the ROS based visualizer shows?

    Thank you,

    Vaibhav

  • 0 in reply to Vaibhav Mahimkar
    TI__Genius 10820 points

    Hi Vaibhav,

    According to the customer, 

    Yes, they are using IWR6843ISK and have the ROS package installed, however, What they need is to obtain the entire range of distance measurement and choose the smallest distance, and know in what position (degree) it is in 2D,

    They use this
    roslaunch ti_mmwave_rospkg 6843_multi_2d_0.launch

    it gives information of x and y, but it does not give me the information of all the values of x and y in the whole range to determine the position and the smallest distance.

    Hoping for your inputs.

    Thank you.

    -Mark

  • 0 in reply to Mark Philip Felipe
    TI__Expert 7510 points

    Mark:

    The x and y coordinate pairs that are part of the point cloud for the ROS driver are just for detected objects in the FOV of the radar. To change the number of detected objects that are reported requires configuring the device differently. Before going into any tuning suggestions, I want to understand a little bit more about what you are trying to do. Can you please elaborate on what you are unable to do today?

    Best regards,

    Connor Desmond

  • 0 in reply to Connor Desmond
    TI__Genius 10820 points

    Hi Connor,

    What they need to measure is all the possible distances between the radar and the object of each degree of fov, that is, if the radar has 120 degrees of fov, I need 120 distance measurements each measurement is one degree apart

    Thank you,

    -Mark

  • 0 in reply to Mark Philip Felipe
    TI__Expert 7510 points

    Mark:

    The radar does not have one degree of angular resolution in the FOV. Additionally, in any given scene if the SNR of the return signal of an object is not high then it will not be highlighted as a detected point. In general whether a detected point is at a particular angle is not dependent on the scene.

    Best regards,

    Connor Desmond