Other Parts Discussed in Thread: AWR1843AOP
Hi
I am currently using ROS driver for AWR1843AOP and having some problem understanding the data structure.
I used the
$ roslaunch ti_mmwave_rospkg 1843_multi_3d_0.launch
to start the ROS driver and used
$ rostopic echo /ti_mmwave/radar_scan_pcl_0to read the data published in ROS.
Here is the data I obtained in the terminal. I am wondering if some one can help me understand what each entry means in the data array. All I know is that the sensor detect 6 objects and I suppose I should resize them in to 6*32 matrix to get an clear impression of it.
header:
seq: 6701
stamp:
secs: 0
nsecs: 0
frame_id: "/ti_mmwave_0"
height: 1
width: 6
fields:
-
name: "x"
offset: 0
datatype: 7
count: 1
-
name: "y"
offset: 4
datatype: 7
count: 1
-
name: "z"
offset: 8
datatype: 7
count: 1
-
name: "intensity"
offset: 16
datatype: 7
count: 1
-
name: "velocity"
offset: 20
datatype: 7
count: 1
is_bigendian: False
point_step: 32
row_step: 192
data: [180, 122, 18, 60, 127, 10, 73, 188, 191, 136, 39, 61, 0, 0, 0, 0, 102, 102, 12, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 130, 75, 60, 255, 96, 95, 60, 31, 243, 33, 61, 0, 0, 0, 0, 102, 102, 12, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 90, 232, 148, 63, 63, 50, 17, 63, 255, 6, 6, 63, 0, 0, 0, 0, 0, 0, 148, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 208, 190, 159, 63, 67, 6, 43, 63, 167, 151, 18, 63, 0, 0, 0, 0, 205, 204, 216, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 100, 204, 63, 247, 184, 43, 63, 159, 246, 228, 62, 0, 0, 0, 0, 0, 0, 164, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 251, 14, 34, 64, 1, 158, 63, 63, 143, 83, 170, 62, 0, 0, 0, 0, 102, 102, 110, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
is_dense: True
---
Thank you in advance.
