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IWR6843AOPEVM: Drone Localization

Ayoub Hichri
Prodigy 60 points
Part Number: IWR6843AOPEVM
Other Parts Discussed in Thread: IWR6843AOP

Hello, 

i am new to radars and i am working on a project for UAV localization using IWR6843AOP radars

I was able to install the ros package and everything works fine but from the rospkg i can only access x,y,z bearing velocity and range data i want to be able to plot range-doppler heatmap but i can't find any python script that does this or if there is i am having trouble with using it with my sensor i am getting an error of buffer size 

another thing i wanted to ask about is how can i regroup the point clouds i am getting to be able to say that's only one object and it's a drone

And i would appreciate it if someone gives me any example of localization using IWR6843AOP because i can't find any in TI LABS in industrial tools

Thank you in advance 

  • 0
    TI__Genius 17265 points

    Hi,

    This is not enabled by default in the ros driver and config files. You will first need to modify the guiMonitor command in the .cfg file that is being used to ensure the rangeDoppler heatmap is being output by the device each frame. Details on this can be found in the mmWave SDK user guide in the section "Configuration File Format". After that, you will need to modify the parser contained in the ROS driver to parse the heatmap into the format you like so that it is accessible to your application. 

    Best Regards,
    Alec

  • 0 in reply to Alec May
    Prodigy 60 points

    im sorry i am new to this kind of work can you explain me what you mean with "After that, you will need to modify the parser contained in the ROS driver to parse the heatmap into the format you like so that it is accessible to your application. " thank you 

  • 0 in reply to Ayoub Hichri
    TI__Genius 17265 points

    Hi,

    So in order to continue with this, I would recommend you take a look at the document in the mmWave Industrial Toolbox "Understanding OOB UART Data" which can be found under
    mmWave Industrial Toolbox->Labs->Out of Box Demo->Understanding OOB UART Data
    On TI Resource Explorer

    This will help explain how data is transferred off the device. Once you have  updated your configuration file to output the rangeDoppler heatmap, you will need to modify the ROS driver to parse this TLV, since the ROS driver currently only supports a few TLV's, since those are all it uses at this point in time. 

    Let me know if there are further questions or clarity needed. 

    Best Regards,
    Alec