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Original question:

IWR1843BOOST: SLAM with mmwave Radar

IWR1843BOOST: Is Autonomous Robot Lab is still supported?

Rahul Sharma
Prodigy 40 points
Part Number: IWR1843BOOST

Hi,

I am using IWR1843BOOST.

I am using Autonomous Robotics with ROS for mmWave ("dev.ti.com/.../node get pointcloud map.

In video it is easily seen the pointcloud but in real i found it is bit different to achieve.

Steps-

1) When i do git clone https://git.ti.com/cgit/mmwave_radar/mmwave_ti_ros/, there are 2 folders-

autonomous_robotics_ros and ros_driver. Both have ti_mmwave_rospkg folder inside. But Both are very different with each other.

It seems only ros_driver folder src is updated. Is autonomous_robotics_ros is updated?

2)

If i use default "autonomous_robotics_ros", i get nothing in pointcloud but if i replace autonomous_robotics_ros/ti_mmwave_rospkg with ros_driver/ti_mmwave_rospkg and after doing the following change, i am getting the filtered_pointcloud-

in autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch-

<!-- <node pkg="tf" type="static_transform_publisher" name="base_radar_link" args="0 0 0 0 0 0 base_link ti_mmwave 100"/> -->
<node pkg="tf2_ros" type="static_transform_publisher" name="radar_baselink_0" args="0.19 0 0.18 0 0 3.1415 map ti_mmwave"/>

attachement is for reference-

Is above change right way to get the map? 

I need to generate the 3D map with this radar and i need your suggestions for that.

Thanks.

  • 0
    TI__Mastermind 19167 points

    Hello,

    The Autonomous Robot Lab is still supported and is fully functional for ROS Melodic, however be aware that this lab requires a Kobuki based TurtleBot platform and so this lab expects the pointcloud information to be coming in through this platform (sensor being connected to Kobuki and Kobuki connected to laptop) and not straight from the sensor. For a sensor only solution, the ROS driver provides all the information one would need to generate a 3D pointcloud.

    Best Regards,

    Pedrhom Nafisi

  • 0 in reply to Pedrhom Nafisi
    Prodigy 40 points

    Thanks for the pointers.

    I am looking in DataHandlerClass.cpp for this.

    for SLAM work, can you elaborate me these points with respect to Radar?

    *) Like Lidar, there are specs like 3M points per frame and we get very dense points in 1 frame. Is there similar things in Radar also? i was checking the number of Chirps per frame can be assume as number of reflected points per frame. Is it so? 

    Will appreciate your support.

  • 0 in reply to Rahul Sharma
    TI__Mastermind 19167 points

    Hello,

    The number of chirps per frame and the details of the chirp behavior itself can all be tuned via the .cfg file that is sent to the sensor before RVIZ starts. You can check which .cfg file is being sent by opening the launch file you are using within a text editor and checking the cfg path. The cfg parameter you want to start looking at is profileCfg as this is one of the most important parameters when it comes to tuning. To understand what each parameter within profileCfg signifies, you can go to the SDK User guide linked here when downloaded: C:\ti\mmwave_sdk_03_06_00_00-LTS\docs\mmwave_sdk_user_guide.pdf

    Best Regards,

    Pedrhom Nafisi