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IWR6843AOPEVM: mmWave ROS

Carlo
Expert 7715 points
Part Number: IWR6843AOPEVM

Hi team,


Good day.


Our customer is interested in IWR6843AOPEVM and would like to use the ROS demo. Is there any configuration needed to load to view the depth image/information using a stereo camera for an unmoving object?



Regards,
Carlo

  • 0
    TI__Mastermind 30820 points

    The setup for the ROS Demo is fully explained in the link below. If the customer is using both radar and cameras, then they would have to integrate this demo. The demo does not support stereo cameras. 

     

    https://dev.ti.com/tirex/explore/node?node=AOVWxEvg-HcESecamNaaLg__VLyFKFf__LATEST&r=VLyFKFf__4.2.1&r=VLyFKFf__4.3.2&r=VLyFKFf__4.4.0

  • 0 in reply to Sabeeh Khan1
    Prodigy 30 points

    I apologise for the confusion, I DO NOT want to use a stereo camera. I want the mmWave device to function like a stereo camera. What I noticed when running the demo in the link you provided is the sensor would only capture moving objects. If I waved my hand in front of the sensor I could see the pointcloud show up, however when I stopped moving I saw no data. Is there any way to see an object that is not moving? Is the sensor capable of capturing depth information about it's surroundings if the environment does not change?

    Thank you for your time,

    Michael

  • 0 in reply to michael wock
    TI__Mastermind 30820 points

    Please check the CLI command Clutterremoval in the User's guide. software-dl.ti.com/.../mmwave_sdk_user_guide.pdf

    You can find the config file for the AOP in the directory <catkin_ws>/src/ti_mmwave_rospkg/cfg/

  • 0 in reply to Sabeeh Khan1
    Prodigy 30 points

    Thank you for your response, I tried setting the clutter removal parameter to 0.

    This is what I see when the sensor is looking at a wall

    This is what I see when I wave my hand in front of the sensor. Where is the rest of the environment? How can I see the wall the sensor is facing?

    Here is my configuration file:

    % ***************************************************************
    % Created for SDK ver:03.02
    % Created using Visualizer ver:3.2.0.0_AOP
    % Frequency:60
    % Platform:xWR68xx_AOP
    % Scene Classifier:best_range_res
    % Azimuth Resolution(deg):30 + 30
    % Range Resolution(m):0.047
    % Maximum unambiguous Range(m):9.02
    % Maximum Radial Velocity(m/s):4.99
    % Radial velocity resolution(m/s):0.63
    % Frame Duration(msec):33.333
    % Range Detection Threshold (dB):15
    % Doppler Detection Threshold (dB):15
    % Range Peak Grouping:enabled
    % Doppler Peak Grouping:enabled
    % Static clutter removal:disabled
    % Angle of Arrival FoV: Full FoV
    % Range FoV: Full FoV
    % Doppler FoV: Full FoV
    % ***************************************************************
    sensorStop
    flushCfg
    dfeDataOutputMode 1
    channelCfg 15 7 0
    adcCfg 2 1
    adcbufCfg -1 0 1 1 1
    profileCfg 0 60 43 7 40 0 0 100 1 224 7000 0 0 30
    chirpCfg 0 0 0 0 0 0 0 1
    chirpCfg 1 1 0 0 0 0 0 2
    chirpCfg 2 2 0 0 0 0 0 4
    frameCfg 0 2 16 0 33.333 1 0
    lowPower 0 0
    guiMonitor -1 1 0 0 0 0 0
    cfarCfg -1 0 2 8 4 3 0 15 1
    cfarCfg -1 1 0 4 2 3 1 15 1
    multiObjBeamForming -1 1 0.5
    clutterRemoval -1 0
    calibDcRangeSig -1 0 -5 8 256
    extendedMaxVelocity -1 0
    lvdsStreamCfg -1 0 0 0
    compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
    measureRangeBiasAndRxChanPhase 0 1.5 0.2
    CQRxSatMonitor 0 3 4 99 0
    CQSigImgMonitor 0 111 4
    analogMonitor 0 0
    aoaFovCfg -1 -90 90 -90 90
    cfarFovCfg -1 0 0 8.40
    cfarFovCfg -1 1 -5.02 5.02
    sensorStart

  • 0 in reply to michael wock
    Prodigy 30 points

    Pictures attached

  • 0 in reply to michael wock
    TI__Mastermind 30820 points

    You might want to try the out of box (OOB) demo and the visualizer on dev.ti.com to to view specific profiles. 

    Please try the Threshold modification for CFAR on the OOB demo, explanation can be found in the User's guide for SDK

    or please see the following webninar that guides you through the gui knobs for OOB demo.  5.1 Getting Up and Running with TI's mmWave Sensors

    Using this method please tune the configuration using OOB demo and then take it to ROS based demo for seeing equivalent results in the ROS world.