https://github.com/bwh1270/awr1843aop_rospkg

TI mmWave FMCW radar ROS-noetic pakcage (awr1843aop)
https://github.com/bwh1270/awr1843aop_rospkg

awr1843aop fmcw-radar mmwave-radar ros-noetic ti-mmwave-ros

Last synced: about 2 months ago
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TI mmWave FMCW radar ROS-noetic pakcage (awr1843aop)

• Host: GitHub
• URL: https://github.com/bwh1270/awr1843aop_rospkg
• Owner: bwh1270
• Created: 2023-06-19T09:14:13.000Z (over 1 year ago)
• Default Branch: main
• Last Pushed: 2023-08-03T12:05:32.000Z (over 1 year ago)
• Last Synced: 2023-08-03T13:39:51.910Z (over 1 year ago)
• Topics: awr1843aop, fmcw-radar, mmwave-radar, ros-noetic, ti-mmwave-ros
• Language: C++
• Homepage:
• Size: 41 KB
• Stars: 3
• Watchers: 1
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md

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README

        
# awr1843aop

※ This package is customized for the Ti mmwave awr1843aop module based on radar-lab/ti_mmwave_rospkg

1. Connect the device(radar sensor) to the Computer or Onboard computer which is operated in Ubuntu.

 

2. Set ttyusb speed to desired speed (baudrate)

```bash

 $ stty speed 115200 < /dev/ttyUSB0    # user port (config port)

 $ stty speed 921600 < /dev/ttyUSB1    # data port

 ```

3. Git clone in your workspace/src/ because these are the packages.

```bash

$ git clone https://github.com/bwh1270/awr1843aop.git

$ git clone https://github.com/wjwwood/serial.git

```

4. Usage after building awr1843aop and serial packages

```bash

$ source devel/setup.bash  

$ roslaunch awr1843aop min_Vres.launch

# Check the message in another terminal

$ rostopic echo /awr1843aop/radarPoints

```

※ Customed message: radarPoints.msg

```bash

std_msgs/Header header

std_msgs/UInt16 total_points

std_msgs/UInt16MultiArray point_idx

geometry_msgs/Point[] points

std_msgs/Float32MultiArray velocity

std_msgs/FLoat32MultiArray snr

```

※ You can download the configuration file of a chirp design. 

[Chirp Design](https://dev.ti.com/gallery/view/mmwave/mmWaveSensingEstimator/ver/2.2.2/)