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AWR6843AOP: 6843AOP radar sensor robotics application

onur emre uygun
Prodigy 120 points
Part Number: AWR6843AOP
Other Parts Discussed in Thread: AWR1642, AWR1843AOP, IWR6843ISK,

Hello,

Robotics lab application included in Industrial toolbox 4.12.0 is compatible with 6843. I want to run robotics application with 6843AOP on AGV robot. Is it possible for me to run the examples implemented for 6843 with AOP? If possible, what changes should I make? thanks.

  • +1
    TI__Mastermind 23317 points

    Hello,

    When you say robotics lab do you mean the ROS lab or the Mobile Tracker/Small obstacle lab? These labs provided in 4.12 does not work with 6843AOP, however it is very possible to make it work with AOP. The Robotics Lab demos in its current form are made using Out of Box demo as the starting points in terms of algorithms and parameters used. The way these algorithms are ran in its current form does not fit AOP's hardware architecture, however the People Counting demo DOES support AOP. What you would need to do is reformat the expected data packet format (TLVs) of the lab you are working on to People Counting's TLV. Depending on which lab you are talking about the process on adjusting the expected TLV is different, but very much possible.

    Best Regards,

    Pedrhom Nafisi

  • +1 in reply to Pedrhom Nafisi
    Prodigy 120 points

    Thank you for your answer,
    There is a part I don't understand. You said there are hardware differences. Are these differences related to antenna geometry? If it is related to antenna geometry, will it be enough to just change the packet format (TLVs)? Will there be any changes in the .cfg file related to antenna geometry?

    Onur Emre UYGUN

  • 0 in reply to onur emre uygun
    TI__Mastermind 23317 points

    Hello Onur,

    There are differences in antenna pattern between 6843 and 6843AOP, but that is not why there is an issue here. The Out of Box demo for AOP, which is what the current Robotics demos are made using, is significantly different in software design versus Out of Box (OOB) demo for 6843. This has to do with the memory areas of MSS and DSS, and where certain actions such as tracking is done. AOP OOB uses only the MSS in software design while certain features used in Robotics require DSS. The AOP does have a DSS, so it is very much possible to add in robotics features, it just wouldn't be seamless and your starting point will have to be the People Counting binary rather than OOB.

    The change that would be needed is taking the robotics code from OOB source files, and putting it in People Counting source files. First you would do a diff between OOB and the robotics demo, any changes seen are changes need for robotics. Take those changes and put them in appropriate places within People Counting and compile and that will work for AOP.

    There are changes in antenna geometry with the .cfg files, so you can do a diff between the OOB demo cfg for 6843AOP and 6843ISK and check the differences with parameters that are in both. You can go to the SDK user guide as well to get more details behind every parameter used to verify if the parameter you are looking at is for antenna geometry.

    Best Regards,

    Pedrhom Nafisi

  • 0 in reply to Pedrhom Nafisi
    Prodigy 120 points

    There is something else I am wondering about. While some demos can only work with awr1642, it does not work with awr6843aop, or when working with awr6843aop, it does not work with 6843ods. what is the reason of this? eg Mobile Tracker example awr1642, awr6843aop, awr1843aop etc. not run with cards but only with iwr6843ISK. eg why isn't there a working instance of Mobile Tracker with AWR1642. I would be grateful if you could explain this.

    I could not get a successful result in running the Mobile Tracker application that we talked about before with awr6843AOP. Can we get technical support on this issue? Or can we have a short meeting? Or anyone else who can provide support?

  • 0 in reply to onur emre uygun
    TI__Mastermind 23317 points

    Hello,

    There are large differences between how post-processing is done involving location in memory of said processing between the different sensors. We mostly do not support first generation devices such as 1443 and 1642 anymore and Mobile Tracker is our newest demo that was only released last month, hence it only being for 6843.

    Best Regards,

    Pedrhom Nafisi