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IWR6843AOPEVM: ROS2 Occupancy example

fboris
Prodigy 20 points
Part Number: IWR6843AOPEVM
Other Parts Discussed in Thread: IWR6843ISK

Tool/software:

Hi

I want to try occupany map on IWR6843AOPEVM. I found there is launch file "6843ISK_Occupancy.py" worked well on IWR6843ISK.  But I coudn't found any example for IWR6843AOPEVM. Later, I tried to edit cfg and launch and again. console shows following message:

[mmWaveCommSrv-2] [INFO] [1726642879.816981485] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'occStateMach 1 3 5 3 2 3 0 10
[mmWaveCommSrv-2] 'occStateMach' is not recognized as a CLI command
mmwDemo:/>'Srv-2]
[mmWaveCommSrv-2] [INFO] [1726642879.821887087] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'zoneDef 0 -0.8 0.8 0.2 1.50 -0.5 1.5'
[mmWaveCommSrv-2] [INFO] [1726642879.830790908] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'zoneDef 0 -0.8 0.8 0.2 1.50 -0.5 1.5
[mmWaveCommSrv-2] 'zoneDef' is not recognized as a CLI command

I flashed "xwr6843AOP_mmw_demo.bin" to IWR6843AOPEVM. What I've did wrong ?


  • 0
    TI__Expert 8990 points

    Hi

    Thanks for your query. Please allow us a couple of days to respond.

    Regards

  • 0 in reply to Abhishek Karkisaval
    TI__Genius 17877 points

    Hello,

    The occupancy box as written for the ROS driver is not compatible with IWR6843AOPEVM. What I would consider the easiest option is to download the Radar Toolbox and flash the Small_Obstacle_Detection's small_obstacle_detection_6843.bin. This bin has the superior Capon pointcloud algorithm chain,  antGeometry parameters to allow for the AOP antenna shape, and the two occupancy parameters occStateMach zoneDef. The problem is there is a issue with the ROS Driver reading in the occupancy box's status for some reason that I cannot remember. Nevertheless this is the easiest and quickest path.

    Best Regards,

    Pedrhom