iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub

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)

Packages

Name Version
iwr6843aop_pub 0.0.0

README

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/

CONTRIBUTING

No CONTRIBUTING.md found.

iwr6843aop_pub repository

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iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository

iwr6843aop_pub repository