Linux/IWR1443BOOST: Replicating ROS Mapping and autonomous navigation

Felix,

Thanks for your interest in the TI IWR1443 mmWave sensor. I would be happy to assist.

Currently, only the TI ROS mmWave driver is released (and can be found on dev.ti.com in the TI Resource Explorer). Releasing the configuration and packages used in the Turtlebot2 mmWave demo is targeted for early January.

Also, for the Turtlebot2 demo mentioned, the ROS navigation stack uses move_base with an initial map from the Octomap server but using only the Turtlebot odometry information combined with the mmWave sensor obstacle information for navigation and collision avoidance (i.e. not using amcl/gmapping for localization or mapping).

Please mark as answered if this answers the question or reply if more information is required.

Regards,
John

Hi John,

Thank you for your help. Yes, the ROS driver works fine. Was it enough to change the move_base map frame to the odom frame? Could you share the launch file or the changed parameter?

Felix

Felix,

In order to make it easier to set a starting pose in the map and choose a destination/goal we used the fake_localization node in place of amcl.

Also, the mmWave sensor itself needed to be integrated into the Turtlebot description.

Regards,
John

Thank you for your reply, where did you get the topic "base_pose_ground_truth" from?

Felix

Felix,

I am assuming you are referring to the "base_pose_ground_truth" topic published by the stage_ros simulator package as described at  http://wiki.ros.org/stage_ros. Since the demo runs on an actual Turtlebot2, we do not use the stage_ros simulator package and thus do not have the "base_pose_ground_truth" topic.

Regards,
John