AWR1642BOOST: AWR1843 ROS Implementation

Rahul Kumar85

Part Number: AWR1642BOOST
Other Parts Discussed in Thread: AWR1843BOOST, , AWR1843

hi,

Can we implement the ROS Point Cloud demo for AWR1843BOOST EVM which is used for AWR1642BOOST? If, not how can i go about it.

Regards

over 6 years ago

0 Nitin Sakhuja over 6 years ago

TI__Mastermind 30405 points

Hi Rahul,

We do not have the ROS demo available for AWR1843BOOST. Please allow me a couple of days to check on whether (and how) the existing ROS demo can be ported to the AWR1843. I'll get back to you by Tuesday next week (02/12).

Thanks

-Nitin

0 Rahul Kumar85 over 6 years ago in reply to Nitin Sakhuja

Intellectual 890 points

Hi Nitin,
Any updates?

Regards

0 Nitin Sakhuja over 6 years ago in reply to Rahul Kumar85

TI__Mastermind 30405 points

Rahul,

The latest ROS demo (from Industrial Toolbox version3.2.0) works with SDK 3.1.x point cloud so the ROS demo should work with AWR18xx OOB demo from SDK 3.1.

1. You will need to create a profile configuration for the AWR1843 device using mmWaveDemoVisualizer as specified in the ROS point cloud visualizer lab user guide under section: Reconfiguring the Chirp Profile.

2. Save the created configuration in the following directory:

~/catkin_ws/src/ti_mmwave_rospkg/cfg

3. Then using the one of the existing .launch files under ~/catkin_ws/src/ti_mmwave_rospkg/launch as a reference, create a launch file for the 1843 device which uses the new profile configuration saved in step 2.

4. Run the ROS driver as specified in step 6 "Running the driver" in the user guide, but using the new launch file created in step-3. For example:

$ roslaunch ti_mmwave_rospkg rviz_1843_3d.launch

One important thing to note that the new mmWaveDemoVisualizer does not save the CFAR, FOV and Clutter removal parameters tuned using the "Real Time Tuning" controls. So you will need to manually copy the commands from the Visualizer console and update the saved profile.cfg. Please refer to this thread:

https://e2e.ti.com/support/sensors/f/1023/p/770628/2850159#2850159

Thanks

-Nitin

0 Rahul Kumar85 over 6 years ago in reply to Nitin Sakhuja

Intellectual 890 points

Hi Nitin,
I think, this will work. Thanks

Regards
Rahul

0 Rahul Kumar85 over 6 years ago in reply to Nitin Sakhuja

Intellectual 890 points

Hi,

I'm able to view the 2d point cloud in ROS using AWR1843 EVM by creating an another launch file as shown below:

But to view a 3D point cloud when I create a configuration file using demo visualizer using 3tx antennas, the cfg file gets uploaded on the evm successfully but nothing is coming on the rviz window.