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IWR1443BOOST: Ghost readings in points below the floor

Danilo A.
Mastermind 28590 points
Part Number: IWR1443BOOST
Other Parts Discussed in Thread: IWR1443

Hi Team,

We would like to ask your help regarding the customer's inquiry below.

This is related to the ghost readings in points below the floor.
Let me explain the scenario, I have mounted the IWR1443 ti mmwave radar to the front of a robot and the radar already has the out of the box demo file dumped in it.
I am using ros driver to get the topics related to the range scan data and is able to visualize the scan data with rviz (a visualizer tool) but as and when I move the bot, I am able to see ghost points or undesired detections below the ground. Is this a known issue or there is something I am missing. Need a bit of a clarification..

Thank you for your support!

Regards,

Danilo

  • 0
    TI__Mastermind 30140 points

    Would ask the customer to please post an image of the description. Is "ground" defined by the 0 z-height in RVIZ, or ground truth?

    If 0 z-height in RVIZ, then the frame and position of the sensor needs to be changed in ROS to match the physical location of where the sensor is placed on the robot. This is typically done with static transform publisher: http://wiki.ros.org/tf

    If points are shown below ground truth, first try tuning the angle of arrival command (aoaFovCfg). You can find a description of this in Table 1 of the mmWave SDK User Guide. In the Out of Box demo visualizer, you can also find this parameter in the "Real-Time Tuning" window of the "Plots" tab. Link to demo visualizer: https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer/ver/3.5.0/