Hardware and Software Setup for ROS with TI mmWave
===========
# Requirements
### Prerequisite
[[y! Run Out of Box Demo
Before continuing with this lab, users should first run the out of box demo.
This will enable users to gain familiarity with the sensor's capabilities as well as the various tools used across all labs in the mmWave Industrial Toolbox.
]]
### Required and Supported mmWave Evaluation Modules (EVM)
This lab is only compatible with ES2.0 version of IWR6843.
On ISK or ODS, check the device version on your IWR6843 using the on-chip device markings as shown below
1. If line 4 reads `678A`, you have an ES2 device. In this case, this lab is compatible with your EVM.
2. If line 4 reads `60 GHZi`, you have an older ES1 device. In this case, the lab is NOT compatible with your EVM. ES2 IWR6843ISK/IWR6843ISK-ODS boards are orderable from the EVM link above.
The IWR6843 AoP version of this lab is only compatible with ES2.0 silicon and the corresponding EVM. Please ensure your EVM is the same as in the below image.
1 | Robot | [TurtleBot2](https://www.turtlebot.com/turtlebot2/) with plate and standoff kit
1 | Local Laptop | Running Linux Ubuntu 16.04. Used for remote operation and visualization
1 | Remote Laptop | Used on Turtlebot2. Running Linux Ubuntu 16.04.
1 | USB 2.0 printer-style cable (A-Male to B-Male) | Used to connect laptop to Turtlebot2
4 | Micro USB Cable | Used to connect laptop to the mmWave EVM (cable comes with the EVM and should be connected to ‘XDS110 USB’ port on EVM)
1 | 12V to 5V DC to DC converter | Must be able to output at least 4 Amps at 5V. Used to allow the EVM to be powered from the Turtlebot2 (this converter is required since the normal 5V output port on the TurtleBot2 cannot supply 2.5Amps)
1 | USB Splitter with Power Adapter | The remote laptop will likely not have 5 USB ports (4 ports for radar and 1 for turtlebot), so a splitter is necessary.
1 | 2-pin miniFit JR connector/cable | Used to go from Turtlebot2 12V output port to the 12V input on the converter (for example, Molex cable part number 245135-0210 or 245135-0220 can be used by cutting it in half so the connector end goes to the TurtleBot2 12V output port and the cut wire end goes to the 12V input of the converter)
| Misc. bolts, nuts, and brackets | For mounting mmWave sensor and DC converter to TurtleBot platform (not included with EVM or TurtleBot)
TI mmWave SDK | 3.5.x.x | [Link to Latest mmWave SDK](http://software-dl.ti.com/ra-processors/esd/MMWAVE-SDK/latest/index_FDS.html). To access a previous version of the mmWave SDK scroll to the bottom of the table and click the link under "MMWAVE-SDK previous release". Repeat to continue stepping back to previous versions.
mmWave Industrial Toolbox | Latest | Download and install the toolbox. Go to [Using TI Resource Explorer & the mmWave Industrial Toolbox](../../../../docs/readme.html) for instructions.
Uniflash | Latest | Uniflash tool is used for flashing TI mmWave Radar devices. [Download offline tool](http://www.ti.com/tool/UNIFLASH) or use the [Cloud version](https://dev.ti.com/uniflash/#!/)
-----------
### Laptops
Both laptops need to have:
* Linux Ubuntu 16.04 natively installed (Ubuntu 16.04 Virtual Machine running on Windows can be used for remote control laptop if desired)
* ROS Kinetic Kame LTS with specified ROS packages
* TI mmWave ROS Driver supplied with this lab
* Additional ROS packages supplied with this lab
Setup for ROS Labs
===========
This section of the guide will cover how to setup the hardware and software for ROS Labs.
## 1. Flash Evaluation Modules with Out of Box demo
---------------
Before continuing with this lab, users should first run the Out of Box Demo for all four EVMs. Verify with the
[mmWave Demo Visualizer](https://dev.ti.com/mmWaveDemoVisualizer) that the sensor(s) are working as expected.
## 2. Setting up the TurtleBot2
---------------
* The TurtleBot2 is a low-cost, personal robotics platform that is well supported within the ROS
community. There are many existing demos that work out-of-the-box with the TurtleBot2 including
teleoperation (remote control), mapping, and navigation.
* The TurtleBot2 should be assembled and four mmWave EVM mounted as shown in the following pictures to work with this lab. There may be slight variation in mounting depending on EVM revision.
* In the example shown, the brackets to mount the mmWave EVMs were 3D printed.
* It is essential for this demo to mount the mmWave EVMs every 90 degrees around the robot, equidistant from the center of the robot.
* In the example shown, the 12V to 5V converter is mounted underneath the center of the top plate, and the USB splitter is placed under the top plate.
* The Turtlebot and the four EVMs are connected to the laptop using the USB splitter.
1x IWR6843ISK mounted on the front of the Turtlebot2 with an optional MMWAVEICBOOST:
* Please follow the instructions in the TI mmWave ROS Driver Setup Guide (available on the **TI Resource Explorer under Labs > TI mmWave ROS Driver**) to install ROS and the TI mmWave ROS Driver on each laptop before continuing.
* ROS must be installed on both the TurtleBot laptop and the Remote Control laptop.
* It is a good idea to test out the installation on each laptop by connecting the TI mmWave EVM and trying out the point cloud visualization.
## 4. Installing the ROS Mapping and Navigation Demo Packages
---------------
After installing ROS and the TI mmWave ROS Driver, follow the steps below on both laptops for interchangeability.
Install the Required Dependent ROS Packages
[[r! This demo is only supported with ROS Kinetic.
Other versions of ROS are not supported due to limitations with the Turtlebot packages.
]]
1. Install the following ROS packages which are required dependencies to run the demos:
3. Close and save the file by hitting 'Ctrl+x', then pressing 'y', and finally pressing 'Enter'.
4. Plug in the north sensor to the remote laptop and type the following in the command line:
```
$ ls -l /dev/ | grep mmWave
```
5. Two symolic links should appear. An example would be "mmWave_00CE0FCA_00", typically the command port,
and "mmWave_00CE0FCA_01", typically the data port.
6. Open a file browser to <catkin_ws>/src/ti_mmwave_rospkg/launch/.
7. In the file bubble_sensor_north.launch, change the command_port and data_port to the previously noted symbolic link.
8. Repeat steps 4-7 plugging in each sensor and changing the command_port and data_port fields in the corresponding direction launch files: bubble_sensor_east.launch, bubble_sensor_west.launch, and bubble_sensor_south.launch.
9. Note that these launch files also create a static transform. If the position or angle of the sensors on the robot is different, the arguments in the static transform must be changed. Find more information on static transforms here: [http://wiki.ros.org/tf#static_transform_publisher](http://wiki.ros.org/tf#static_transform_publisher)
This completes the guide on how to get the software and hardware setup for ROS labs. Please return to the respective ROS Lab User's guide to execute the lab.
