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Linux/IWR1443BOOST: Data Flow

Daniel L.
Prodigy 140 points
Part Number: IWR1443BOOST
Other Parts Discussed in Thread: IWR1443, DCA1000EVM

Tool/software: Linux

Hello,

I am currently using IWR1443Boost alongside with ROS and Turtlebot.

So far, I have been able to go through some of the labs offered by TI e.g., Autonomous Robotics with ROS.

However, now I would like to perform some treatment on the data coming from IWR1443 to ROS. Therefore I would like to know which kind of data is possible to read and manipulate using ROS interface.

I have seen that the data from the topic RSCAN is on the point cloud message format, but I would like to know if there are other "pre-treated data" that can be accessed using ROS interface.

Thank you in advance!

  • 0
    TI__Mastermind 33805 points

    Hi,

    The point cloud showing on the ROS visualizer is already post processed. If you need raw data capture, you need to get the DCA1000EVM.

    Daniel Louback said:
    However, now I would like to perform some treatment on the data coming from IWR1443 to ROS. Therefore I would like to know which kind of data is possible to read and manipulate using ROS interface.

    Can you provide some more details on what you are trying to implement?

    Regards,

    Charles O

  • 0 in reply to Charles Oladimeji
    Prodigy 140 points

    Hi Charles,

    Thank you for your answer.

    So, initially, the goal is to be able to extract the data and analyze it (for that, I would rather have the data before it goes through PCL). Furthermore, the aim is to apply DSP e.g., filtering the data. 

    In general, It would be important for me to be able to identify objects, to measure the velocity of objects as well as their distance from the IWR1443.

    I saw that using the mmWave Demo Visualizer I can perform some tests and observe Range x Power plots as well as Doppler-Range plot.

    Therefore, I would also like to know if I can perform some plots alike those in mmWave visualizer demo in ROS.

    Cheers,

    Daniel 

  • 0 in reply to Daniel L.
    TI__Mastermind 33805 points
    ROS only provides 3D point cloud at this time. You will need to implement your own visualizer to view the doppler plot etc like the visualizer does