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IWR6843AOP: Doppler_bin with the sdk version 3.x on the rospkg

Ayoub Hichri
Prodigy 60 points
Part Number: IWR6843AOP

Hello everyone,

i am having trouble getting the doppler_bins values using the rospkg in sdk 1.x and 2.x they were using dopplerIdx but seems like when i try to use it with sdk 3.x it gives back and error of range

my question here is can someone help me to get the values of doppler_bins on sdk 3.x what changes should be made in the ROS package because as i can see in sdk 3.x only x y z and Velocity are being returned and bearing range and doppler bins are always zero 

Best regards

  • 0
    TI__Mastermind 23317 points

    Hello,

    For 3.x+ Doppler values are no longer stated within TLV type of MMWDEMO_OUTPUT_MSG_DETECTED_POINTS. This is why they are being returned as 0, because there is nothing being returned there. In prior versions of the SDK the doppler and range were all included in the same type of TLV as the point cloud which is why the order you saw was: range doppler intensity x y z . However with 3.x+, we have removed doppler and range from being outputted there and included new TLV types that output only the doppler and only the range, this is of TLV type MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP  and MMWDEMO_OUTPUT_MSG_RANGE_PROFILE respectively.

    Best Regards,

    Pedrhom Nafisi

  • 0 in reply to Pedrhom Nafisi
    Prodigy 60 points

    Thank you for your answer,

    so if the doppler values are not included in that tlv is there a way to include them or another way to be able to get the doppler bin values i am in need of the doppler values to be able to plot the micro doppler signature heatmap ? 

    Best regards

  • 0 in reply to Ayoub Hichri
    TI__Mastermind 23317 points

    Hello Ayoub,

    Yes you can include them in a different way. If you go to understanding OOB UART data (https://dev.ti.com/tirex/explore/node?a=VLyFKFf__4.11.0&node=AH-2SVYArR7wfP9cuNOm0w__VLyFKFf__4.11.0) you can see examples of MMWDEMO_OUTPUT_MSG_DETECTED_POINTS which includes x, y, and z. But then you can check other types of TLVs and see the different identifiers. What you are looking for is most likely within type identifier 5.

    Regards,

    Pedrhom Nafisi

  • 0 in reply to Pedrhom Nafisi
    Prodigy 60 points

    Hello again

    i am actually knew to working with radars and im not that experienced with them i wanted to know if you can help me with some steps on how to get these doppleridx values in sdk 3.x 

    how can i conclude them in a different way do i have to parse the range doppler heatmap or is it another way 

  • 0 in reply to Ayoub Hichri
    TI__Mastermind 23317 points

    Hello,

    You will need to parse the range doppler heatmap, but for more context and information on this process and all the possible output types so that you can be sure of all your options, you should open the Doxygen html within the mmWave SDK, located at C:/ti/<mmwave_sdk_version>/packages/ti/demo/xwr68xx/mmw/docs/doxygen/html/index.html#tlv5

    Regards,

    Pedrhom Nafisi