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IWR1642BOOST: Adding velocity to pointcloud2 message provided in the ROS Driver Lab.

Davis Landry
Prodigy 160 points
Part Number: IWR1642BOOST

I am new to using ROS and was wondering if there is any way to add velocity to the pointcloud2 message that the ros driver produces? 

Thanks

  • 0
    TI__Mastermind 30405 points

    Hi Davis,

    This question has been discussed in the following thread:

    IWR1443BOOST: Output intensity units

    The above thread provides details on where in the mmWave ROS driver code are the point cloud values populated in the message. As there is no Doppler field in the ROS Point Cloud2 message, the Doppler values coming from the mmWave EVM over UART are not populated. If you just want to look at the Doppler values temporarily, you can plug-in the Doppler values in an existing field (e.g. Intensity) as the user in the above thread did.

    To add the Doppler values along with other fields, you will need to define a new Point Cloud message in the ROS code and modify the mmWave Driver code to use and populate the new message. We have not experimented with this approach.

    Regards

    -Nitin