IWR6843AOPEVM: ros point cloud visualizer

shravan bhoopasamudram krishna

Part Number: IWR6843AOPEVM
Other Parts Discussed in Thread: MMWAVEICBOOST

Hi, I was referring TI mmwave ros driver guide and came across a note stating that " Please note that the IWR6843AOPEVM does not work with the ROS visualizer in standalone mode. It must be mounted on the MMWAVEICBOOST". May I know the reason behind this. If their is a way to interface the IWR6843AOPEVM with ROS and visualize the point cloud data in the ROS visualizer in standalone mode can you please let me know as to how it can be done.

over 4 years ago

0 Akash Gondalia over 4 years ago

TI__Guru 50240 points

Hi Shravan,

I've asked an expert to look into this and we should have an answer for you later this week.

Cheers,

Akash

0 Charles Oladimeji over 4 years ago in reply to Akash Gondalia

TI__Mastermind 33805 points

Hi,

The bottleneck is the drivers for the UART to USB converter. If you install the CP2105 driver on your linux machine you should be able to set ROS with a few more changes.

At the moment we have only support the use with MMWAVEICBOOST.

Regards,

Charles O

0 shravan bhoopasamudram krishna over 4 years ago in reply to Charles Oladimeji

Prodigy 190 points

Hi, can you please let me know what changes should i have to make with the ti_mmwave_rospkg so that i can visualize the point cloud data from ros visualizer in the standalone mode.

0 Charles Oladimeji over 4 years ago in reply to shravan bhoopasamudram krishna

TI__Mastermind 33805 points

Hi,

Per the previous post the ti_mmwave_rospkg does not currently support standalone mode. However at the very least, you need to enable the drivers on your Linux machine and update the command_port and Data_port to match that of the device, additional effort needed beyond that is currently unclear.

Regards,

Charles O

0 Alexis Clemente over 4 years ago in reply to Charles Oladimeji

Prodigy 30 points

Hello,

Just to complement this, I wanted to achieve the same thing the OP wanted, here are the steps:

Retrieve a configuration from the Visualiser tool ( https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer_IWR6843AOP )
( At this point I did not try to optimize the configuration for my needs, but that's where we should do it I believe )
Export the config.cfg
Replace the 6843_2d.cfg and/or the 6843_3d.cfg depending on what you will call
Correct the ports
- list it using ll /dev/serial/by-id
- change the ports in ~/catkin_ws/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch
  - (in my case, these ports)
  - command_port value to /dev/ttyUSB0
  - data_port value to /devttyUSB1
Change the permissions on the ports, using sudo chmod 666 /dev/ttyUSB0 , do it to the other port too (USB0)
use command roslaunch ti_mmwave_rospkg rviz_6843_2d.launch or roslaunch ti_mmwave_rospkg rviz_6843_2d.launch

I tried this today and it worked, but the number of cloud points I retrieved seems ridiculously low.

Regards

0 shravan bhoopasamudram krishna over 4 years ago

Prodigy 190 points

Thanks for your support.

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IWR6843AOPEVM: ros point cloud visualizer