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IWR1843BOOST：Stochastic failure to obtain point cloud information

?? ?
Prodigy 70 points
Part Number: IWR1843BOOST
Other Parts Discussed in Thread: AWR1843, IWR1843,

In ubuntu system use ROS driver to read the point cloud information acquired by this radar, but the following situations often occur resulting in the inability to read the point cloud.
Including:

1.I've made no changes to any of the config files, but I'm still getting the problem in the diagram randomly. Note that it is random, and may not report this error when no changes are made.

2.Point cloud topics can be read, but topic/ti_mmwave/radar_scan_pcl_0 doesn't emit any data

3.When the data is successfully read, the current point cloud data can be displayed in rviz, but after a slight touch of the millimetre wave radar and a wobble, the point cloud may disappear immediately, as in the video

  • 0
    TI__Mastermind 23107 points

    Hello,

    1. What gives away what's happening is mmWaveQuickConfig: Response: ''. There is no established communication with the device, whether this is the serial port is "busy" as it is open by something else, is in the wrong SOP mode, or is still running. This is not a ROS, config, or firmware issue, but rather the device is not in the right state in order to be ready to receive commands. Have you been power cycling the device between runs?

    2. Does radar_scan output information as opposed to radar_scan_pcl_0?

    3. You have a massive amount of detections there, and the sensor is most likely crashing from overload. You should increase the CFAR threshold to filter out more points. Radar is really good at detecting micromovements, so when you touch it and give a slight wobble, the entire scene will have a doppler which makes it have even more detections.

    Best Regards,

    Pedrhom

  • 0 in reply to Pedrhom Nafisi
    Prodigy 70 points

    1. I didn't power off and reboot, but ctrl+c closed the driver in terminal, and when I enter the command again to open the driver it can't read the data, is this the reason? If I close the driver and want to read the data again, do I have to power off and reboot, or do I choose to wait a little longer for the memory to be released?
    2. Not sure at the moment
    3. How do you read point cloud data in a moving scene? Choose AWR1843 vehicle-mounted?
    Thanks for the answer!

    Translated with www.DeepL.com/Translator (free version)

  • 0 in reply to ?? ?
    TI__Mastermind 23107 points

    Hello,

    1. You must power cycle the sensor between every run, in addition to restarting the driver. Unplug cable and plug back in.

    3. Same way you read it currently, just change some of the values found in the .cfg file that the .launch file points to. Increase CFAR threshold value to reduce noise.

    Best Regards,

    Pedrhom

  • 0 in reply to Pedrhom Nafisi
    Prodigy 70 points

    Would I get better results if I purchased another radar? Also what is the difference between iwr1843 and iwr1843boost?
    Thanks for the answer!

  • 0 in reply to ?? ?
    TI__Mastermind 23107 points

    Hello,

    IWR1843BOOST is the evaluation module used to evaluate/demo/test the IWR1843 chip itself. I do not think you will get major differences between using 1843 and 6843 in terms of performance, with the 6843 being the product with the most ready-to-go demos and documentation/presentations. The two products main differentiating factor is the operating frequency for regulation purposes., which has negligible change to point cloud performance. 

    Since it seems you need a little more specific guidance, from the ROS launch file used see which .cfg is being called. Go to the cfg folder and open the respective .cfg file in a text editor. Here you will see all the configuration parameters. Find the CFAR parameters as shown below, and increase the value to see less points. Decrease it for more points. Play around with this number to start off.

    cfarCfg -1 0 2 8 4 3 0 20 1
    cfarCfg -1 1 0 4 2 3 1 20 1

    Best Regards,

    Pedrhom