ROS Package: ti_mmwave_ros2

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ti_mmwave_ros2_pkg package from mmwave_ti_ros repo

serial ti_mmwave_ros2_examples ti_mmwave_ros2_interfaces ti_mmwave_ros2_pkg

Package Summary

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

Repository Summary

Description	Ti mmWave Radar ROS/ROS 2 packages & Applications
Checkout URI	https://github.com/kimsooyoung/mmwave_ti_ros.git
VCS Type	git
VCS Version	master
Last Updated	2023-11-15
Dev Status	UNKNOWN
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

TODO: Package description

Additional Links

No additional links.

Maintainers

kimsooyoung

Authors

No additional authors.

ti_mmwave_ros2_pkg/README.md

미심쩍은 부분

void DataUARTHandler::start(void)

여기서 spin을 걸어뒀는데 나는 node안에 node를 만들어서 실행하도록 해두었다.

    auto DataHandler = std::make_shared<DataUARTHandler>();
    DataHandler->setFrameID( (char*) myFrameID.c_str() );
    DataHandler->setUARTPort( (char*) mySerialPort.c_str() );
    DataHandler->setBaudRate( myBaudRate );
    DataHandler->setMaxAllowedElevationAngleDeg( myMaxAllowedElevationAngleDeg );
    DataHandler->setMaxAllowedAzimuthAngleDeg( myMaxAllowedAzimuthAngleDeg );
    
    rclcpp::spin(DataHandler);

$ ros2 component types
...
ti_mmwave_ros2_pkg
  ti_mmwave_ros2_pkg::mmWaveDataHdl

# terminal 1
ros2 run rclcpp_components component_container
ros2 component list
/ComponentManager

# terminal 2
ros2 component load /ComponentManager ti_mmwave_ros2_pkg ti_mmwave_ros2_pkg::mmWaveDataHdl

ros2 component load /ComponentManager ti_mmwave_ros2_pkg ti_mmwave_ros2_pkg::mmWaveCommSrv

ros2 component unload /ComponentManager 1

ros2 launch ti_mmwave_ros2_pkg

Quick Config만

ros2 launch ti_mmwave_ros2_pkg eloquent_composition.launch.py
=> 알아서 잘 꺼짐

ros2 run rclcpp_components component_container
ros2 component load /ComponentManager ti_mmwave_ros2_pkg ti_mmwave_ros2_pkg::mmWaveCommSrv

ros2 component load /my_container ti_mmwave_ros2_pkg ti_mmwave_ros2_pkg::mmWaveCommSrv

mmWaveDataHdl

ros2 run rclcpp_components component_container

ros2 launch ti_mmwave_ros2_pkg eloquent_only_config.launch.py

ros2 component load /ComponentManager ti_mmwave_ros2_pkg ti_mmwave_ros2_pkg::mmWaveDataHdl

ros2 component load /ComponentManager ti_mmwave_ros2_pkg ti_mmwave_ros2_pkg::mmWaveCommSrv

ros2 component unload /ComponentManager 1

결과

==============================
DataUARTHandler Read Thread joined
DataUARTHandler Sort Thread joined
DataUARTHandler Swap Thread joined
[INFO] [mmWaveDataHdl]: mmWaveDataHdl: Finished onInit function
DataUARTHandler Read Thread: Port is open[INFO] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<ti_mmwave_ros2_pkg::ParameterParser>
[INFO] [ComponentManager]: Found class: rclcpp_components::NodeFactoryTemplate<ti_mmwave_ros2_pkg::mmWaveCommSrv>
[INFO] [ComponentManager]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ti_mmwave_ros2_pkg::mmWaveCommSrv>
[INFO] [mmWaveCommSrv]: mmWaveCommSrv: command_port = /dev/ttyUSB0
[INFO] [mmWaveCommSrv]: mmWaveCommSrv: command_rate = 115200
[INFO] [mmWaveCommSrv]: mmWaveCommsrv: Finished onInit function
component_container: ../nptl/pthread_mutex_lock.c:81: __pthread_mutex_lock: Assertion `mutex->__data.__owner == 0' failed.

sudo chmod 666 /dev/ttyUSB0
sudo chmod 666 /dev/ttyUSB1

ros2 run ti_mmwave_ros2_pkg ti_mmwave_ros2_pkg
=> 이거 하면 
DataUARTHandler Read Thread: Port is opensyncedBufferSwap
이거까지는 나온다.

ros2 run ti_mmwave_ros2_pkg mmwave_comm_srv_node
ros2 launch ti_mmwave_ros2_pkg eloquent_only_config.launch.py

ros2 param list

launch 파일 만들기

ros2 launch ti_mmwave_ros2_pkg eloquent_composition.launch.py

parameter 바꿀 수 있게 변경

config에서 미리 셋업을 하고 생성도 한 다음, 그걸 ti_mmwave_ros2_pkg가 받아서 사용하도록 한다. 대신 한번 바꾸면 다시 또 바꿀 수는 없음

ros2 run ti_mmwave_ros2_pkg mmwave_comm_srv_node
ros2 launch ti_mmwave_ros2_pkg eloquent_only_config.launch.py

ros2 run ti_mmwave_ros2_pkg ti_mmwave_ros2_pkg

rviz

ros2 launch ti_mmwave_ros2_pkg eloquent_composition.launch.py
use sim time true로 하면 점이 안사라진다.

이 모든 것을 한번에!

ros2 launch ti_mmwave_ros2_pkg eloquent_composition.launch.py

[Multi Sensor] Debug

/home/kimsooyoung/ros2_ws/install/ti_mmwave_ros2_pkg/lib/ti_mmwave_ros2_pkg/mmWaveQuickConfig /home/kimsooyoung/ros2_ws/install/ti_mmwave_ros2_pkg/share/ti_mmwave_ros2_pkg/cfg/6843ISK_3d.cfg --ros-args -r __node:=mmWaveQuickConfig -r __ns:=/radar_0

ros2 run ti_mmwave_ros2_pkg mmwave_comm_srv_node --ros-args -r __ns:=/radar_0 -p "namespace:=radar_0"

ros2 run rclcpp_components component_container

ros2 component load /ComponentManager ti_mmwave_ros2_pkg ti_mmwave_ros2_pkg::mmWaveDataHdl -p namespace:="radar_0"

multi sensor

ros2 launch ti_mmwave_ros2_pkg eloquent_multi0_composition.launch.py
ros2 launch ti_mmwave_ros2_pkg eloquent_multi1_composition.launch.py
ros2 launch ti_mmwave_ros2_pkg eloquent_multi_only_rviz.py

==============================
List of parameters
==============================
Number of range samples: 240
Number of chirps: 16
f_s: 7.500 MHz
f_c: 62.300 GHz
Bandwidth: 3200.000 MHz
PRI: 81.000 us
Frame time: 33.333 ms
Max range: 11.242 m
Range resolution: 0.047 m
Max Doppler: +-4.951 m/s
Doppler resolution: 0.619 m/s
==============================

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.

Package Dependencies

Deps	Name
	rosidl_default_generators
	ament_cmake
	rosidl_default_runtime
	ament_lint_auto
	ament_lint_common
	rclcpp
	std_msgs
	sensor_msgs
	visualization_msgs
	pcl_ros
	ti_mmwave_ros2_interfaces

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

msg/RadarScan.msg

Services

srv/MMWaveCLI.srv

Plugins

No plugins found.

Recent questions tagged `ti_mmwave_ros2_pkg` at Robotics Stack Exchange

API Docs Browse Code

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