No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

iwr6843aop_pub package from iwr6843aop_pub repo

iwr6843aop_pub

Package Summary

Tags No category tags.
Version 0.0.0
License TODO: License declaration
Build type AMENT_PYTHON
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/nhma20/iwr6843aop_pub.git
VCS Type git
VCS Version main
Last Updated 2024-11-19
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Publishes pointcloud data from IWR6843AOPEVM mmWave device

Additional Links

No additional links.

Maintainers

  • nm

Authors

No additional authors.

IWR6843AOPEVM simple ROS2 package

Official TI ROS2 driver released here: https://git.ti.com/cgit/mmwave_radar/mmwave_ti_ros/ros2_driver/

mmw_pcl_gif

Python ROS2 pointcloud retriever for IWR6843AOPEVM mmWave device

Derived from: https://github.com/mywrong/IWR6843_TLVS

Another example: https://github.com/chopin1998/mmwave

Prerequisites

  • ROS2 (Ubuntu 18.04.5 & dashing tested // Ubuntu 20.04.3 & foxy tested)
  • Python3 (3.6.9 & 3.8.10 tested)
  • IWR6843AOPEVM (ES2) mmWave radar device flashed with out-of-box firmware (either from this repo or inside downloaded mmwave_industrial_toolbox_x_x_x/labs/Out_Of_Box_Demo/prebuilt_binaries/ folder. Use uniflash to flash EVM (https://training.ti.com/hardware-setup-iwr6843isk-and-iwr6843isk-ods)). Set up switches as seen here:

Installation

  1. Clone the repo to workspace
   cd ~/ros2_ws/src/
   
   git clone https://github.com/nhma20/iwr6843aop_pub.git
   
  1. Colcon build package
   cd ~/ros2_ws/
   
   colcon build --packages-select iwr6843aop_pub
   

Usage

  1. Plug in IWR6843AOPEVM, make sure CLI and data ports match (default /dev/ttyUSB0 and /dev/ttyUSB1)
  2. Run ros package (make sure /opt/ros/dashing/setup.bash and /install/setup.bash are sourced)
   ros2 run iwr6843aop_pub pcl_pub
   

example with ROS2 parameters:

   ros2 run iwr6843aop_pub pcl_pub --ros-args -p cli_port:=/dev/ttyUSB0 -p data_port:=/dev/ttyUSB1 -p cfg_path:=/home/nm/ros2_ws/src/iwr6843aop_pub/cfg_files/90deg_noGroup_18m_30Hz.cfg
   

Launch example with default parameters:

   ros2 launch iwr6843aop_pub default_parameters.launch.py
   

When loading a cfg with a different antenna configuration than the previous, IWR6843AOP device must be power cycled - can be done easily by pressing the RST_SW switch, or simply unplugging and replugging the USB cable.

  1. Visualize with rviz
   rviz2
   
  1. ‘Add’ a new display (lower left corner)
  2. Select ‘By topic’ ribbon
  3. Find ‘iwr6843_pcl PointCloud2’ and add it
  4. Edit ‘Fixed Frame’ to ‘iwr6843_frame’. (use a ‘static_transform_publisher’ to transform to another frame)
  5. (Optional) Set point size at PointCloud2 -> Size (m) to 0.1 for better clarity

Modify

All functional code (for the purpose of this ROS package) is located at

   /iwr6843aop_pub/iwr6843aop_pub/publisher_member_function.py
   

A number of .cfg files are provided which dictate the functionality of the mmWave device. More profiles can be made with the mmWave Demo Visualizer tool: https://dev.ti.com/gallery/view/mmwave/mmWave_Demo_Visualizer/ver/3.5.0/

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged iwr6843aop_pub at Robotics Stack Exchange

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.