IWR1642: 1642, ROS, mapping and navigation (or SLAM) demo

Hello, I changed the ros project of iwr6843 to the auto-set version, however the visualiziton in Linux cannot display the point cloud normally. If it is a original version(sending configuration), the visualizition can display the point cloud normally after sending parameter. Probably the reason is that the radar will return command(like 'done') to the visualiziton after receiving the parameters, so that the visualizition will start. How to modify the code so that the visualizition can display the auto-set version of the radar normally?

Hello, I changed the ros project of iwr6843 to the auto-set version, however the visualiziton in Linux cannot display the point cloud normally. If it is a original version(sending configuration), the visualizition can display the point cloud normally after sending parameter. Probably the reason is that the radar will return command(like 'done') to the visualiziton after receiving the parameters, so that the visualizition will start. How to modify the code so that the visualizition can display the auto-set version of the radar normally?

What do you mean by “auto-set”

Write the parameters in the CCS (like 'sensor start', 'frameCfg' and so on) instead of sending them to the radar through the visualizition.

looking forward to your response

Hi Cai,

Sorry for the delayed response. You could flash the device with the hard-coded config version of the out of box demo. Note that this demo is for the 6843, but the firmware is available for you to do the same for the 1642.

After doing that, then you can edit the ti_mmwave_rospkg source. You would have to remove mmWaveQuickConfig and only enable the data handler. Again, all the source code is provided so you would have to do this on your own. There is no simple way of accomplishing your goal without digging into the firmware/software for both the out of box demo and ti_mmwave_rospkg.

Thank you for your reply. Could you please explain the specific operation process? I did not succeed according to the previous explanation

1. Using CCS, write and build a version of Hard-coded config demo for the 1642. An example of the hard-coded config is here.

2. Modify the rospkg source code to disable mmWaveQuickConfig and only enable datahandler. You can comment out the mmWaveQuickConfig node from the launch file.