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Original question:

IWR6843: IWR6843 = ROS

AWR1843BOOST: Range Profile Plot or XY Scatter Plot Visualization - ROS

Matthew Messina
Prodigy 90 points
Part Number: AWR1843BOOST
Other Parts Discussed in Thread: DCA1000EVM

Hi,

I have been visualizing the data from the AWR1843BOOST module with both the mmWave Demo Visualizer and the detected points with RVIZ. I would like merge functionality from the two in order to generate the mmWave online demo plots (range profile and xy scatter plots) with data published via ROS. Currently, the ROS package supports the publication of the RScan object with x,y,z, and snr data as a PCL point cloud. Is the raw data available to publish via ROS and create the online demo plots? For example, is there a raw data array available that I can publish with ROS and then perform offline analysis (FFT, etc.) to create the other plots of interest?

Thank you,


Matthew

  • 0
    TI__Mastermind 33805 points

    Hi,

    I'm not sure I fully understand what you are trying to do. You can download and install the mmWave Demo Visualizer so you have access to it offline. The visualizer shows the point cloud, range profile and some other plots.

    Regards.

    Charles O

  • 0 in reply to Charles Oladimeji
    Prodigy 90 points

    Thank you very much for the reply and consideration. We would like to publish the raw data as a ROS topic to be incorporated with a larger group of other ROS topics. The offline mmWave Demo Visualizer provides some of the graphs we are interested in but I'd like to integrate the data to ROS.

    Can the data from the plots somehow be published in ROS?

  • 0 in reply to Matthew Messina
    TI__Mastermind 33805 points

    Hi,

    We currently don't have an example that supports this. You can build on the available ROS demo to support your application.

    Regards,

    Charles O

  • 0 in reply to Charles Oladimeji
    Prodigy 90 points

    Thank you. That is what I hope to accomplish.

    Is there a raw data array available that I can publish in ROS to begin the analysis? I'm looking for the raw data in the current TI ROS demo package but only see x,y,z, and snr in DataHandlerClass.cpp. The currentBufp object has raw data but I do not know if it's a good starting point. Are there ADC data available to publish in ROS?

    Thank you,

    Matthew

  • 0 in reply to Matthew Messina
    TI__Mastermind 33805 points

    Hi,

    If you mean raw data as in the output of the ADC, then you will need to use the DCA1000EVM. Right now the supported platform for raw data is the mmWaveStudio.

    If you are trying to get similar plots as the mmWaveVisualizer on the ROS platform, then that should be more feasible since the same binary is used for both demos so the data needed should be readily available.

    Regards,

    Charles O