mirror of
https://git.ti.com/git/mmwave_radar/mmwave_ti_ros.git
synced 2026-05-21 09:22:15 +00:00
moved ros_driver to /src/, updated all docs for turtlebot merge
This commit is contained in:
Sabeeh Khan
Binary file not shown.
Binary file not shown.
@@ -2,7 +2,7 @@
|
||||
<html>
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<title>Autonomous Robotics with ROS for mmWave Release Notes - Version 1.6</title>
|
||||
<title>Autonomous Robotics with ROS for mmWave Release Notes - Version 1.7</title>
|
||||
</head>
|
||||
|
||||
<!-- START PRE -->
|
||||
@@ -69,8 +69,8 @@ The following are Known Limitations in this release:
|
||||
* Currently supported/tested for IWR6843ISK
|
||||
ES2.0 EVM, IWR6843AOP ES2.0 EVM only
|
||||
* The mmWave EVM must be flashed with:
|
||||
* The mmWave SDK version 3.4.0.2 out-of-box demo firmware for IWR6843ISK ES2.0
|
||||
* The mmWave SDK version 3.4.0.2 out-of-box demo firmware for IWR6843AOP ES2.0
|
||||
* The mmWave SDK version 3.5 out-of-box demo firmware for IWR6843ISK ES2.0
|
||||
* The mmWave SDK version 3.5 out-of-box demo firmware for IWR6843AOP ES2.0
|
||||
* The fake_localization ROS navigation package is used to allow direct setting of
|
||||
the robot’s initial pose (position/orientation) and goal pose. Therefore, the
|
||||
gmapping and amcl ROS navigation packages are not used.
|
||||
@@ -82,7 +82,13 @@ Work Arounds for Major Known Issues
|
||||
The following are workarounds for each known issue with a major severity that exists in this release:
|
||||
* N/A
|
||||
|
||||
Changes in Version 1.7
|
||||
========================
|
||||
|
||||
The following is a list of changes compared to the previous release.
|
||||
- Changed cfg files to support SDK 3.5
|
||||
- Merged source files from safety bubble lab into Autonomous robotics lab
|
||||
- Added support for quad sensor operation
|
||||
|
||||
</xmp>
|
||||
|
||||
|
||||
@@ -2,7 +2,7 @@
|
||||
<html>
|
||||
<head>
|
||||
<meta charset="utf-8" />
|
||||
<title>Autonomous Robotics with ROS for mmWave User's Guide - Version 1.6 </title>
|
||||
<title>Autonomous Robotics with ROS for mmWave User's Guide - Version 1.7 </title>
|
||||
</head>
|
||||
|
||||
<!-- START PRE -->
|
||||
@@ -22,333 +22,45 @@ Autonomous Robotics with ROS for mmWave
|
||||
|
||||
This lab allows for the TI mmWave sensor to be used with popular mapping and navigation libraries in the Robot Operating System (ROS) environment, familiar to many robotics engineers.
|
||||
The lab uses the Octomap server and move_base libraries with TI’s mmWave ROS Driver Package software to interface to the TI mmWave sensor. The lab supports use of IWR6843ISK or IWR6843AOP ES2.0 EVMs.
|
||||
With this TI driver and the software from the ROS community (ros.org) engineers may evaluate robot navigation and object avoidance quickly and easily.
|
||||
With the TI driver and the software from the ROS community (ros.org) engineers may evaluate robot navigation and object avoidance quickly and easily.
|
||||
|
||||
This lab could also be used with either one or four sensors. With the use of four sensors, the robot has the ability to have a 360° field of view, thus the robot is able to detect surrounding objects for better mapping and navigation.
|
||||
|
||||
<img src="images/intro_senseavoid.gif" class="img-responsive"/>
|
||||
|
||||
|
||||
|
||||
# Requirements
|
||||
|
||||
### Prerequisite
|
||||
[[y! Run Out of Box Demo
|
||||
Before continuing with this lab, users should first run the out of box demo for the EVM.
|
||||
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)
|
||||
|
||||
#### ISK module with MMWAVEICBOOST
|
||||
|
||||
Quantity | Item
|
||||
------------------|-----------------
|
||||
1 | Antenna Module Board: [IWR6843ISK](http://www.ti.com/tool/IWR6843ISK)
|
||||
1 | OPTIONAL: [Industrial mmWave Carrier Board](http://www.ti.com/tool/MMWAVEICBOOST) for CCS based debugging
|
||||
|
||||
OR
|
||||
|
||||
#### AOP EVM
|
||||
## Hardware and Software Setup
|
||||
|
||||
Quantity | Item
|
||||
------------------|-----------------
|
||||
1 | [IWR6843AOPEVM](http://www.ti.com/tool/IWR6843AOPEVM)
|
||||
1 | OPTIONAL: [Industrial mmWave Carrier Board](http://www.ti.com/tool/MMWAVEICBOOST) for CCS based debugging
|
||||
|
||||
|
||||
[[r! IWR6843 ES2.0 Only
|
||||
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
|
||||
Before starting this lab, please follow the directions described in the [ROS Setup Guide with TI mmWave](../../common/docs/Turtlebot_HWSW_setup.html).
|
||||
|
||||
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.
|
||||
|
||||
<img src="images/iwr6843_silicon_revision.png" width="300"/>
|
||||
|
||||
On AOP, the EVM must be Rev F or later. This can be distinguished by the shape of the EVM if it is as shown above.
|
||||
]]
|
||||
|
||||
[[r! AoP ES2.0 EVM only
|
||||
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.
|
||||
|
||||
<img src="images/iwr6843aopevm1.png" width="300"/>
|
||||
|
||||
]]
|
||||
|
||||
|
||||
|
||||
### Additional Hardware Requirements
|
||||
|
||||
Quantity | Item | Details
|
||||
---------|--------------------------|-----------------
|
||||
1 | Robot | [TurtleBot2](https://www.turtlebot.com/turtlebot2/) with plate and standoff kit
|
||||
1 | Computer (preferably laptop) | Running Linux Ubuntu 16.04. Used for remote operation and visualization
|
||||
1 | Laptop<span style="color:blue">*</span> | 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
|
||||
1 | 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 2.5Amps 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 | 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)
|
||||
1 | 2.1mm barrel jack connector | Center positive with cable/wire to go from the 5V output on the converter to the EVM
|
||||
| Misc. small bolts and nuts and brackets | For mounting mmWave sensor and DC converter to TurtleBot platform (not included with EVM or TurtleBot)
|
||||
|
||||
[[b *Sitara AM572x processor can be used instead of a laptop for the Turtlebot2
|
||||
For instructions on how to implement the Sitara based alternative please refer to the [Autonomous robotics reference design with Sitara™ processors and mmWave sensors using ROS](http://www.ti.com/tool/TIDEP-01006).
|
||||
The reference design demonstrates an embedded robotic system where point-cloud data from the mmWave radar sensing is processed by the Sitara AM57x processor which runs Robot Operating System (ROS) and is the main processor for the overall system control.
|
||||
]]
|
||||
|
||||
### Software
|
||||
|
||||
Tool | Version | Download Link
|
||||
----------------------------|---------------------------|--------
|
||||
TI mmWave SDK | 3.4.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/#!/)
|
||||
Silicon Labs CP210x USB to UART Bridge VCP Drivers | Latest | Only needed for AOP EVM. [https://www.silabs.com/products/development-tools/software/usb-to-uart-bridge-vcp-drivers](https://www.silabs.com/products/development-tools/software/usb-to-uart-bridge-vcp-drivers)
|
||||
|
||||
-----------
|
||||
|
||||
### 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
|
||||
* Additional ROS packages supplied with this lab
|
||||
|
||||
Quickstart
|
||||
===========
|
||||
|
||||
The quickstart guide will cover setting up the EVM, flashing firmware, and running the demo.
|
||||
The guide is broken down into three sections: Remote Control Operation, Mapping Demo, and Autonomous Demo. The Remote Control section
|
||||
explains how to bring up the sensor and drive the turtlebot remotely. The mapping demo uses the point cloud from the sensor to create a map of the
|
||||
robot's environment. The robot must be manually operated. Finally, the autonomous demo
|
||||
|
||||
## 1. Setup the EVM for Flashing Mode
|
||||
* For MMWAVEICBOOST + Antenna Module setup: Follow the instructions for [Hardware Setup for Flashing in MMWAVEICBOOST Mode](../../../common/docs/hardware_setup/hw_setup_mmwaveicboost_mode_flashing.html)
|
||||
* For IWR6843ISK in Standalone/Modular Mode: Follow the instructions for [Hardware Setup of IWR6843ISK for Flashing Mode](../../../common/docs/hardware_setup/hw_setup_isk_ods_modular_mode_flashing.html)
|
||||
* For AOP in Standalone/Modular Mode: Follow the instructions for [Hardware Setup of IWR6843AOPEVM for Flashing Mode](../../../common/docs/hardware_setup/hw_setup_aop_modular_mode_flashing.html)
|
||||
|
||||
|
||||
## 2. Flash the EVM using Uniflash
|
||||
|
||||
Flash the binary listed below using UniFlash. Follow the instructions for [using UniFlash](../../../common/docs/software_setup/using_uniflash_with_mmwave.html)
|
||||
|
||||
BIN Name | Board | Location
|
||||
------------------------------|-----------------|-----------
|
||||
xwr68xx_mmw_demo.bin | IWR6843ISK | `<INDUSTRIAL_TOOLBOX_INSTALL_DIR>\mmwave_industrial_toolbox_<VER>\out_of_box_demo\`<br>`68xx_mmwave_sdk_dsp\prebuilt_binaries\xwr68xx_mmw_demo.bin`
|
||||
xwr64xxAOP_mmw_demo.bin | IWR6843AOPEVM | `<INDUSTRIAL_TOOLBOX_INSTALL_DIR>\mmwave_industrial_toolbox_<VER>\out_of_box_demo\`<br>`68xx_aop_mmwave_sdk_hwa\prebuilt_binaries\xwr64xxAOP_mmw_demo.bin`
|
||||
|
||||
|
||||
|
||||
## 3. Setup the EVM for Functional Mode
|
||||
* For MMWAVEICBOOST + Antenna Module setup: Follow the instructions for [Hardware Setup of MMWAVEICBOOST + Antenna Module for Functional Mode](../../../common/docs/hardware_setup/hw_setup_mmwaveicboost_mode_functional.html)
|
||||
* For IWR6843ISK in Standalone/Modular Mode: Follow the instructions for [Hardware Setup of IWR6843ISK for Functional Mode](../../../common/docs/hardware_setup/hw_setup_isk_ods_modular_mode_functional.html)
|
||||
* For AOP: follow the instructions for [Hardware Setup of IWR6843AOPEVM for Functional Mode](../../../common/docs/hardware_setup/hw_setup_aop_modular_mode_functional.html)
|
||||
|
||||
|
||||
## 4. Verification using online Visualizer
|
||||
-----------
|
||||
|
||||
|
||||
* Power up the EVM and connect it to the Windows PC with the provided USB cable (make sure that the SOP2 jumper is removed).
|
||||
* Using Google Chrome, navigate to the following URL: https://dev.ti.com/mmWaveDemoVisualizer
|
||||
* If prompted, follow the on-screen instructions for installing TI Cloud Agent (this is need the first time on a new PC)
|
||||
* In the GUI menu, select Options → Serial Port
|
||||
* In the serial port window, enter the appropriate port in each of the drop down menus based on your port numbers from the "flash the evm" section
|
||||
* Click on Configure to connect the GUI to the EVM. The GUI Status bar should show <b>Conected:</b> <img src="images/mmwave_demo_visualizer_connected.png" width="30" height="20"/>
|
||||
|
||||
<img src="images/mmwave_demo_visualizer_ports.png" width="600"/>
|
||||
|
||||
|
||||
## 4. 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.
|
||||
* In this guide we will have a look at how to modify these demos to integrate the TI mmWave sensor as the 3-D sensor.
|
||||
* The TurtleBot2 should be assembled and mmWave EVM mounted as shown in the following pictures to work with this lab. There may be slight variation in mounting depending on EVM option.
|
||||
* In the example shown, the 12V to 5V converter is mounted underneath the center of the top plate.
|
||||
* The Turtlebot and EVM is connected to the laptop using USB cables
|
||||
|
||||
IWR6843ISK with MMWAVEICBOOST carrier board – front view (shown without required laptop):
|
||||
<img src="images/setup/turtlebot2_front.png" class="img-responsive"/>
|
||||
|
||||
IWR6843ISK with MMWAVEICBOOST carrier board – side view (shown without required laptop):
|
||||
<img src="images/setup/turtlebot2_side.png" class="img-responsive"/>
|
||||
|
||||
|
||||
## 5. Installing ROS and the TI mmWave ROS Driver
|
||||
---------------
|
||||
* 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.
|
||||
|
||||
|
||||
## 6. Installing the mmWave 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
|
||||
1. Install the following ROS packages which are required dependencies to run the demos:
|
||||
```
|
||||
$ sudo apt-get install ros-kinetic-navigation
|
||||
```
|
||||
```
|
||||
$ sudo apt-get install ros-kinetic-hector-slam
|
||||
```
|
||||
```
|
||||
$ sudo apt-get install ros-kinetic-octomap-server
|
||||
```
|
||||
```
|
||||
$ sudo apt-get install ros-kinetic-kobuki
|
||||
```
|
||||
```
|
||||
$ sudo apt-get install ros-kinetic-octomap-rviz-plugins
|
||||
```
|
||||
```
|
||||
$ sudo apt-get install ros-kinetic-vision-opencv
|
||||
```
|
||||
```
|
||||
$ sudo apt-get install ros-kinetic-depth-image-proc
|
||||
```
|
||||
```
|
||||
$ sudo apt-get install ros-kinetic-joy
|
||||
```
|
||||
|
||||
2. Download the source code for the specific version of the ROS fake_localization package required
|
||||
to run the demos:
|
||||
```
|
||||
$ mkdir -p ~/catkin_ws/src/navigation/fake_localization
|
||||
```
|
||||
```
|
||||
$ cd ~/catkin_ws/src/navigation/fake_localization
|
||||
```
|
||||
```
|
||||
$ wget https://raw.githubusercontent.com/ros-planning/navigation/1.14.2/fake_localization/fake_localization.cpp
|
||||
```
|
||||
```
|
||||
$ wget https://raw.githubusercontent.com/ros-planning/navigation/1.14.2/fake_localization/CMakeLists.txt
|
||||
```
|
||||
```
|
||||
$ wget https://raw.githubusercontent.com/ros-planning/navigation/1.14.2/fake_localization/package.xml
|
||||
```
|
||||
|
||||
## 7. Download the TurtleBot mmWave Mapping and Navigation Packages
|
||||
---------------
|
||||
1. Download the **ti\_mmwave\_ros\_map\_nav\_`<ver>`.tar.gz** Linux archive file from the
|
||||
<a href="javascript:void(0)" onclick="window.parent.jumpToTirexNodeInCurrentPackage (' AN-1gXp4Kn1RRFC9mOFTZQ ')"> Robotics </a> / Autonomous Robotics with ROS for mmWave folder and copy it to your catkin `<workspace_dir>/src` directory.
|
||||
|
||||
[[y! Note
|
||||
Downloading and extracting the TurtleBot mmWave Mapping and Navigation Packages should be done on both laptops
|
||||
]]
|
||||
|
||||
|
||||
a) Point your web browser to the mmwave sensor software package: https://dev.ti.com/tirex/#/?link=Software
|
||||
|
||||
b) Click on “mmWave Sensors” and then click on “Industrial Toolbox”
|
||||
|
||||
c) Click on the link for “Labs”
|
||||
|
||||
d) Click on the “Autonomous Robotics with ROS for mmWave” lab in the table in the center
|
||||
|
||||
e) Click on the “Download All” button on the right side as shown in the following
|
||||
image and accept the user license agreement when prompted. Choose to save the
|
||||
downloaded zip file if prompted or save it to disk first and then open it by doubleclicking
|
||||
it from the downloaded location.
|
||||
<img src="images/setup_sw/download_lab.png" class="img-responsive"/>
|
||||
|
||||
f) Navigate into the folder structure of the opened zip file to the path shown in the
|
||||
following figure. (Note that the path may start with mmwave\_sensors/industrial\_toolbox\_<ver> depending on package version.)
|
||||
<img src="images/setup_sw/ros_pkg_source.png" class="img-responsive"/>
|
||||
|
||||
g) Open a new file browser window and navigate to your catkin `<workspace_dir>/src`
|
||||
directory as shown in the right window in the following screenshot. Copy the
|
||||
**ti\_mmwave\_ros\_map\_nav\_`<ver>`.tar.gz** file to your `<workspace_dir>/src` directory
|
||||
by dragging it from the source (left) window to the destination (right) window.
|
||||
<img src="images/setup_sw/ros_pkg_dest.png" class="img-responsive"/>
|
||||
|
||||
h) You should now see the **ti\_mmwave\_ros\_map\_nav\_`<ver>`.tar.gz** file in your
|
||||
`<workspace_dir>/src` directory as shown in the following screenshot.
|
||||
<img src="images/setup_sw/ros_pkg_in_src.png" class="img-responsive"/>
|
||||
|
||||
2. Extract the turtlebot, navigation, and turtlebot\_mmwave\_launchers folders (as well as a
|
||||
custom mmWave chirp config file which gets placed in the ti_mmwave_rospkg/cfg
|
||||
directory) from the archive (.tar.gz) file using the following command executed from the
|
||||
`<workspace_dir>/src` directory. Change <ver> to match the actual filename.
|
||||
|
||||
```
|
||||
$ tar xzf ti_mmwave_ros_map_nav_<ver>.tar.gz
|
||||
```
|
||||
|
||||
3. Go back to your catkin `<workspace_dir>` directory and build the workspace:
|
||||
|
||||
```
|
||||
$ cd <workspace_dir>
|
||||
```
|
||||
```
|
||||
$ catkin_make
|
||||
```
|
||||
|
||||
If all of the installation steps were followed and both ROS environment scripts were sourced
|
||||
the driver should build successfully and you should see [100%] on the lines at the end of the
|
||||
build output.
|
||||
|
||||
## 8. Networking
|
||||
---------------
|
||||
ROS is a distributed system, meaning that it can communicate over a local network with other ROS
|
||||
components. For this demo, both laptops mentioned above must be on the exact same network and
|
||||
must be able to ping (icmp) each other by IP address. The Remote Control laptop must also be able to
|
||||
ssh (tcp/ip) into the TurtleBot laptop by IP address. You may need to install ssh on the laptops using the
|
||||
following command:
|
||||
|
||||
```
|
||||
$ sudo apt-get install ssh
|
||||
```
|
||||
For more information regarding ROS’s networking visit the link: <http://wiki.ros.org/ROS/NetworkSetup>
|
||||
|
||||
|
||||
Additionally a ROS system may only have one “roscore” across all machines. In order for machines to
|
||||
recognize this “roscore” they must have an environment variable defined which specifies the IP address
|
||||
of the “roscore” machine.
|
||||
|
||||
|
||||
###On the TurtleBot machine
|
||||
Edit your **~/.bashrc** file to include the following lines at the bottom:
|
||||
```
|
||||
export ROS_MASTER_URI=http://localhost:11311
|
||||
export ROS_IP=<IP_OF_THIS_MACHINE>
|
||||
```
|
||||
You can check your IP by running `$ ifconfig` on the command line. Note that the line
|
||||
exporting the ROS_IP environment variable may not be required if your network is setup where
|
||||
each machine can contact/ping the other by hostname. You must close and re-open the shell
|
||||
for the updated **~/.bashrc** file to take effect.
|
||||
|
||||
###On the Remote machine
|
||||
Edit your **~/.bashrc** file to include the following lines at the bottom:
|
||||
```
|
||||
export ROS_MASTER_URI=http://<IP_OF_TURTLEBOT_MACHINE>:11311
|
||||
export ROS_IP=<IP_OF_THIS_MACHINE>
|
||||
```
|
||||
You can check your IP by running `$ ifconfig` on the command line. Note that if your network
|
||||
is setup where each machine can contact/ping the other by hostname then you can use
|
||||
<NAME_OF_TURTLEBOT_MACHINE> instead of <IP_OF_TURTLEBOT_MACHINE> in the first line
|
||||
and the line exporting the ROS_IP environment variable may not be required. You must close
|
||||
and re-open the shell for the updated **~/.bashrc** file to take effect.
|
||||
|
||||
## 9. Remote Control Demo (TurtleBot Bring-up and Teleoperation)
|
||||
---------------
|
||||
Remote Control Operation
|
||||
===========
|
||||
These steps must take place from the remote machine, “ssh-ing” into the TurtleBot laptop when
|
||||
necessary.
|
||||
|
||||
|
||||
##TurtleBot Bring-up
|
||||
To start the TurtleBot, open a terminal window on the remote machine, ssh into the TurtleBot laptop
|
||||
and run the following command.
|
||||
and run the following command. The `<device>` tag noted below can be one of the following: `6843ISK` or `6843AOP`.
|
||||
|
||||
* For IWR6843ISK:
|
||||
* For setups running a single sensor:
|
||||
```
|
||||
$ roslaunch turtlebot_bringup minimal.launch mmwave_device:=6843ISK
|
||||
$ roslaunch turtlebot_bringup minimal_single_sensor.launch mmwave_device:=<device>
|
||||
```
|
||||
|
||||
* For IWR6843AOP:
|
||||
* For setups running four sensors:
|
||||
```
|
||||
$ roslaunch turtlebot_bringup minimal.launch mmwave_device:=6843AOP
|
||||
$ roslaunch turtlebot_bringup minimal_quad_sensor.launch mmwave_device:=<device>
|
||||
```
|
||||
|
||||
|
||||
If the EVM was not in a good state the roslaunch command will fail. Try resetting the EVM by pressing
|
||||
the ‘NRST’ button on the EVM and then run the desired roslaunch command again.
|
||||
@@ -366,10 +78,10 @@ teleoperation (remote control) of the TurtleBot:
|
||||
Follow the instructions shown in the window to control the TurtleBot. You can exit out of the remote
|
||||
control application by pressing `CTRL-C`.
|
||||
|
||||
## 10. Mapping Demo
|
||||
---------------
|
||||
Mapping Demo
|
||||
===========
|
||||
The Mapping Demo is an example of how to use TI’s mmWave Radar EVMs within the ROS framework
|
||||
on a robot to build a map.
|
||||
on a robot to build a map. This feature is only supported with single sensor setups.
|
||||
|
||||
* The demo runs the octomap_server package in ROS. There are several filters that have been brought up
|
||||
for use: Pass Through filters for all the point cloud fields, and a Statistical Outlier Removal filter for
|
||||
@@ -450,41 +162,45 @@ You should see the saved map displayed in Rviz. Note that the other topics in Rv
|
||||
warning/error since they are not active.
|
||||
|
||||
|
||||
## 11. Navigation Demo
|
||||
---------------
|
||||
Navigation Demo
|
||||
===========
|
||||
The TurtleBot navigation demo runs on the nodes mentioned in the image below.
|
||||
<img src="images/setup_sw/ros_nodes.png" class="img-responsive"/>
|
||||
|
||||
Here are the steps to run the navigation demo.
|
||||
Here are the steps to run the navigation demo:
|
||||
|
||||
1. Close all previous terminal windows if any were open
|
||||
|
||||
2. Open a new terminal window on the remote machine, ssh into the TurtleBot laptop and bring up the
|
||||
TurtleBot and mmWave EVM with the following command.
|
||||
* For IWR6843ISK:
|
||||
TurtleBot and mmWave EVM with the following command.The `<device>` tag noted below can be one of the following: `6843ISK` or `6843AOP`.
|
||||
|
||||
* For setups running a single sensor:
|
||||
```
|
||||
$ roslaunch turtlebot_bringup minimal.launch mmwave_device:=6843ISK
|
||||
$ roslaunch turtlebot_bringup minimal_single_sensor.launch mmwave_device:=<device>
|
||||
```
|
||||
|
||||
* For IWR6843AOP:
|
||||
* For setups running four sensors:
|
||||
```
|
||||
$ roslaunch turtlebot_bringup minimal.launch mmwave_device:=6843AOP
|
||||
```
|
||||
|
||||
$ roslaunch turtlebot_bringup minimal_quad_sensor.launch mmwave_device:=<device>
|
||||
```
|
||||
If the EVM was not in a good state the roslaunch command will fail. Try resetting the EVM by pressing the ‘NRST’ button on the EVM and then run the desired roslaunch command again.
|
||||
|
||||
If the EVM was not in a good state the roslaunch command will fail. Try resetting the EVM by
|
||||
pressing the ‘NRST’ button on the EVM and then run the desired roslaunch command again.
|
||||
|
||||
The configuration files are included in the ti_mmwave_ros_map_nav_v1p4.tar.gz package ...\ti_mmwave_ros_map_nav_v1p4\ti_mmwave_rospkg\cfg. To change the parameter, edit and save the file using a text editor. For example, to update the demo to run using the IWR6843ISK-ODS and configuration file used with the ODS point cloud demo
|
||||
- Edit the "6843ISK_3d.cfg" configuration file to one that works with the ODS point cloud demo.
|
||||
- Flash the IWR6843ISK-ODS with the ODS point cloud binary.
|
||||
- Run the demo as documented for 6843ISK EVM.
|
||||
|
||||
|
||||
3. To bring up the move_base and fake_localization nodes and load a prebuilt map using the
|
||||
octomap_server, open a new terminal window on the remote machine, ssh into the TurtleBot
|
||||
laptop and run the following command:
|
||||
* For single sensor operation:
|
||||
```
|
||||
$ roslaunch turtlebot_mmwave_launchers radar_navigation.launch
|
||||
$ roslaunch turtlebot_mmwave_launchers radar_navigation_single.launch
|
||||
```
|
||||
|
||||
* For quad sensor operation:
|
||||
```
|
||||
$ roslaunch turtlebot_mmwave_launchers radar_navigation_quad.launch
|
||||
```
|
||||
|
||||
**Note 1**: By default, this launch file loads a specific prebuilt map file containing a map of a simple
|
||||
|
||||
Reference in New Issue
Block a user