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AWR1642BOOST: Short Range Radar (TIDEP-0092) ROS driver access

Kimon Roufas
Prodigy 30 points
Part Number: AWR1642BOOST
Other Parts Discussed in Thread: AWR1642, TIDEP-0092

Hi, I have an AWR1642BOOST ES2.0 board and I'd like to use ROS to access what has been implemented in the Short Range Radar (TIDEP-0092) reference design. Including the object detection and velocity measurements, and the optional clustering, and tracking. My initial inclination was to modify the ti_mmwave_rospkg driver provided in Industrial Toolbox 3.3.1 > Labs > ROS Point Cloud Visualizer, but it crashes right out of the gate with the SRR firmware installed on the AWR1642 board. Suggestions?

  • 0
    TI__Guru*** 138309 points
    Hi

    The data structures are different.

    One will need to understand the SRR output data structures. We can provide help with that

    Then one would need to modify the ROS driver.

    We would not be able to help with that. You would have to do that yourself

    Thank you
    Cesar
  • 0 in reply to Cesar
    Prodigy 30 points

    Hi Cesar, we'd be happy to work on the ROS driver side. Could you provide some reference docs on the AWR1642 demo firmware (out-of-box firmware) data structures along with the SRR output data structures?

    I'm assuming the latest ROS driver is `ti_mmwave_rospkg_v1p5`

    Thanks,

    Kimon

  • 0 in reply to Cesar
    Prodigy 30 points
    Marking unresolved to keep this question in the queue. See response below on data structures.
  • 0 in reply to Kimon Roufas
    TI__Guru*** 138309 points
    Hi,

    The out of the box data structures are described in the mmWave SDK html demo documentation.

    Also, this topic has been discussed many times on this forum. Please search for mmWave demo documentation.

    For the SRR demo, unfortunately the demo doc does not include this documentation. I will point you to the code

    First let's make sure you are clear about the oob demo doc

    thank you
    Cesar