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complete merged source of turtlebot labs

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This commit is contained in:
Sabeeh Khan
2020-12-28 15:57:40 -06:00
parent 33b26c8afe
commit 9a4a2ad22a
529 changed files with 6205 additions and 3530 deletions
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autonomous_robotics_ros/src/CMakeLists.txt Symbolic link
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autonomous_robotics_ros/src/serial Submodule

Submodule autonomous_robotics_ros/src/serial added at cbcca7c837

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autonomous_robotics_ros/ti_mmwave_rospkg/CMakeLists.txt → autonomous_robotics_ros/src/ti_mmwave_rospkg/CMakeLists.txt Normal file → Executable file
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cmake_minimum_required(VERSION 2.8.3)
project(ti_mmwave_rospkg)
## Add support for C++11, supported in ROS Kinetic and newer
add_definitions(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
nodelet
roscpp
serial
std_msgs
sensor_msgs
message_generation
pluginlib
)
find_package(Boost REQUIRED )
find_package(Threads REQUIRED)
find_package(PCL 1.7.2 REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
# add_message_files(
# FILES
# RadarScan.msg
#)
## Generate services in the 'srv' folder
add_service_files(
FILES
mmWaveCLI.srv
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
sensor_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES mmwave
#CATKIN_DEPENDS nodelet roscpp serial std_msgs
DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories( include
${catkin_INCLUDE_DIRS}
${ti_mmwave_rospkg_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${pthread_INCLUDE_DIRS}
${rt_INCLUDE_DIRS}
)
link_directories( ${Boost_LIBRARIES_DIRS} )
link_directories( ${PCL_LIBRARY_DIRS} )
add_definitions(${PCL_DEFINITIONS})
## Declare a C++ library
add_library(mmwave
src/mmWaveDataHdl.cpp
src/mmWaveCommSrv.cpp
src/DataHandlerClass.cpp
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(mmwave ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/ti_mmwave_rospkg_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
set (CMAKE_CXX_STANDARD 11)
add_executable(${PROJECT_NAME} src/mmWaveLoader.cpp)
target_link_libraries(mmwave ${serial_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} mmwave ${serial_LIBRARIES})
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} mmwave ${serial_EXPORTED_TARGETS})
add_executable(mmWaveQuickConfig src/mmWaveQuickConfig.cpp)
target_link_libraries(mmWaveQuickConfig ${catkin_LIBRARIES} mmwave)
add_dependencies(mmWaveQuickConfig ${catkin_EXPORTED_TARGETS} mmwave)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ti_mmwave_rospkg.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
cmake_minimum_required(VERSION 2.8.3)
project(ti_mmwave_rospkg)
## Add support for C++11, supported in ROS Kinetic and newer
add_definitions(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
nodelet
roscpp
serial
std_msgs
sensor_msgs
message_generation
pluginlib
)
find_package(Boost REQUIRED)
find_package(Threads REQUIRED)
find_package(PCL 1.7.2 REQUIRED)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a run_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
RadarScan.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
mmWaveCLI.srv
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
sensor_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a run_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if you package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
INCLUDE_DIRS include
LIBRARIES mmwave
#CATKIN_DEPENDS nodelet roscpp serial std_msgs
DEPENDS system_lib
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
# include_directories(include)
include_directories( include
${catkin_INCLUDE_DIRS}
${ti_mmwave_rospkg_INCLUDE_DIRS}
${PCL_INCLUDE_DIRS}
${pthread_INCLUDE_DIRS}
${rt_INCLUDE_DIRS}
)
link_directories( ${Boost_LIBRARIES_DIRS} )
link_directories( ${PCL_LIBRARY_DIRS} )
add_definitions(${PCL_DEFINITIONS})
## Declare a C++ library
add_library(mmwave
src/mmWaveDataHdl.cpp
src/mmWaveCommSrv.cpp
src/DataHandlerClass.cpp
src/mmWaveQuickConfig.cpp
src/ParameterParser.cpp
)
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
add_dependencies(mmwave ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/ti_mmwave_rospkg_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# install(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables and/or libraries for installation
# install(TARGETS ${PROJECT_NAME} ${PROJECT_NAME}_node
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
set (CMAKE_CXX_STANDARD 11)
add_executable(${PROJECT_NAME} src/mmWaveLoader.cpp)
target_link_libraries(mmwave ${serial_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} mmwave ${serial_LIBRARIES})
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} mmwave ${serial_EXPORTED_TARGETS})
add_executable(mmWaveQuickConfig src/mmWaveQuickConfig.cpp)
target_link_libraries(mmWaveQuickConfig ${catkin_LIBRARIES} mmwave)
add_dependencies(mmWaveQuickConfig ${catkin_EXPORTED_TARGETS} mmwave)
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_ti_mmwave_rospkg.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)

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# TI mmWave ROS Package (Customized)
#### Auhor and Maintainer: Leo Zhang
#### Organization: University of Arizona
#### Email: dr.leo.zhang@outlook.com
---
### Most recent change:
Add support for XWR18XX devices. SDK version: 3.2.0.4.
---
Initially derived from TI's origin ROS package in Industrial Toolbox 2.3.0 (new version available [Industrial Toolbox 2.5.2](http://dev.ti.com/tirex/#/?link=Software%2FmmWave%20Sensors%2FIndustrial%20Toolbox)).
### Differences from origin TI's version:
1. Added all radar parameters from calculations and can be read from `rosparam get`.
2. Added Doppler data from detecting targets and form a customized ROS message `/ti_mmwave/radar_scan`.
3. Added support for multiple radars working together.
4. Added support for camera overlay (for sensor fusion).
5. Working with xWR1443 and xWR1642 ES1.0 and ES2.0 (ES1.0 is deprecated from TI)
---
### Available devices:
```
TI mmWave AWR1443BOOST
TI mmWave AWR1642BOOST
TI mmWave AWR1642BOOST ES2.0/3.0 EVM (not tested)
TI mmWave AWR1642BOOST ES2.0 EVM
TI mmWave AWR1843BOOST ES1.0 EVM
```
---
### Quick start guide (AWR1642BOOST ES2.0 EVM):
1. Mount AWR1642BOOST ES2.0 EVM (as below), connect 5V/2.5A power supply and connect a micro-USB cable to host Ubuntu 16.04 LTS with [ROS Kinetic](http://wiki.ros.org/kinetic).
![](https://github.com/radar-lab/ti_mmwave_rospkg/raw/master/auxiliary/mounting.jpg "AWR1642 Mounting")
Note: Tested with Ubuntu 16.04 LTS with ROS Kinectic and Ubuntu 18.04 LTS with [ROS Melodic](http://wiki.ros.org/melodic)
2. Download SDK 2.0 or above (suggested SDK 2.1) from [here](http://www.ti.com/tool/MMWAVE-SDK) and use [UNIFLASH](http://www.ti.com/tool/UNIFLASH) to flash xwr16xx_mmw_demo.bin to your device. **Do not forget SOP2 jumper when flashing.**
Note:
AWR1642 ES1.0 (usually purchased before May 2018) uses SDK 1.2. AWR1642 ES2.0 (usually purchased after May 2018) uses SDK 2.0. Same applies to AWR1443. (You can refer to [this thread](https://e2e.ti.com/support/sensors/f/1023/t/692195?tisearch=e2e-sitesearch&keymatch=%20user:356347))
3. Clone this repo and ROS serial onto your `<workspace dir>/src`:
```
git clone https://github.com/radar-lab/ti_mmwave_rospkg.git
git clone https://github.com/wjwwood/serial.git
```
4. Go back to `<workspace dir>`:
```
catkin_make && source devel/setup.bash
echo "source <workspace_dir>/devel/setup.bash" >> ~/.bashrc
```
5. Enable command and data ports on Linux:
```
sudo chmod 666 /dev/ttyACM0
sudo chmod 666 /dev/ttyACM1
```
Note: If multiple sensors are used, enable additional ports `/dev/ttyACM2` and `/dev/ttyACM3`, etc. the same as this step.
6. Launch AWR1642 short range config:
```
roslaunch ti_mmwave_rospkg 1642es2_short_range.launch
```
Note: If you want to build your own config, use [mmWave Demo Visualizer](https://dev.ti.com/mmwavedemovisualizer) and link the launch file to the config.
7. ROS topics can be accessed as follows:
```
rostopic list
rostopic echo /ti_mmwave/radar_scan
```
8. ROS parameters can be accessed as follows:
```
rosparam list
rosparam get /ti_mmwave/max_doppler_vel
```
Note: AWR1843 requires SDK 3.2.0.4, which has different output format. The later release will improve this part.
---
### Message format:
```
header:
seq: 6264
stamp:
secs: 1538888235
nsecs: 712113897
frame_id: "ti_mmwave" # Frame ID used for multi-sensor scenarios
point_id: 17 # Point ID of the detecting frame (Every frame starts with 0)
x: 8.650390625 # Point x coordinates in m (front from antenna)
y: 6.92578125 # Point y coordinates in m (left/right from antenna, right positive)
z: 0.0 # Point z coordinates in m (up/down from antenna, up positive)
range: 11.067276001 # Radar measured range in m
velocity: 0.0 # Radar measured range rate in m/s
doppler_bin: 8 # Doppler bin location of the point (total bins = num of chirps)
bearing: 38.6818885803 # Radar measured angle in degrees (right positive)
intensity: 13.6172780991 # Radar measured intensity in dB
```
---
### Troubleshooting
1.
```
mmWaveCommSrv: Failed to open User serial port with error: IO Exception (13): Permission denied
mmWaveCommSrv: Waiting 20 seconds before trying again...
```
This happens when serial port is called without superuser permission, do the following steps:
```
sudo chmod 666 /dev/ttyACM0
sudo chmod 666 /dev/ttyACM1
```
2.
```
mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
mmWaveQuickConfig: Response: 'sensorStop
'?`????`????`???~' is not recognized as a CLI command
mmwDemo:/>'
```
When this happens, re-run the command you send to sensor. If it continues, shut down and restart the sensor.
---
### Multiple devices support (dual AWR1642 ES2.0 EVM):
1. Connect two devices and try `ll /dev/serial/by-id` or `ls /dev`. In this case, `/dev/ttyACM0` to `/dev/ttyACM3` should shown.
2. To avoid serial port confliction, you need to launch devices separately. So for first device (it will open rviz):
```
roslaunch ti_mmwave_rospkg multi_1642_0.launch
```
3. Change radars' location in first three arguments `<node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0 -1 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>` (stands for x,y,z for positions) in launch file `multi_1642_1.launch`. And launch second device:
```
roslaunch ti_mmwave_rospkg multi_1642_1.launch
```
Note: As serial connection and the original code, you need to launch devices separately using different launch files.
---
### Camera overlay support (working with USB camera or CV camera):
1. Download and build USB camera repo [here](https://github.com/radar-lab/usb_webcam`). And set parameters of camera in `<usb_webcam dir>/launch/usb_webcam.launch`.
2. To test the device image working, try:
```
roslaunch usb_webcam usb_webcam.launch
rosrun rqt_image_view rqt_image_view
```
3. Make sure you have done [ROS camera calibration](http://wiki.ros.org/camera_calibration) and create a `*.yaml` configuration file accordingly.
4. Launch radar-camera system using:
```
roslaunch ti_mmwave_rospkg camera_overlay.launch
```
---
### Changelog:
```
v3.3.0
Add support for XWR18XX devices. SDK version: 3.2.0.4.
v3.2.2
Fix bugs and update README.
v3.2.1
Support camera overlay over 3D 1443s.
v3.2.0
Added camera overlay support.
v3.1.0
Strengthened code.
v3.0.0
Added README.
Improved rviz looking for point cloud data.
Added support for multiple radars working together.
Improved radar's all around working conditions.
v2.0.0
Added support for ES2.0 EVM devices.
v1.0.0
Added Doppler from TI's mmWave radars.
```

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autonomous_robotics_ros/src/ti_mmwave_rospkg/auxiliary/mounting.jpg Executable file
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79
autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_2d.cfg → autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1443_2d.cfg
View File

@@ -1,39 +1,40 @@
% ***************************************************************
% Created for SDK ver:01.02
% Created using Visualizer ver:1.2.0.0
% Frequency:77
% Platform:xWR14xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.01
% Maximum Radial Velocity(m/s):5.06
% Radial velocity resolution(m/s):0.64
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):9
% Range Peak Grouping:disabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 5 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 39 7 57.14 0 0 70 1 240 4884 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
frameCfg 0 1 16 0 33.333 1 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 768
peakGrouping 1 0 1 1 229
multiObjBeamForming 1 0.5
clutterRemoval 0
calibDcRangeSig 0 -5 8 256
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 123 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
sensorStart
% ***************************************************************
% Created for SDK ver:01.02
% Created using Visualizer ver:1.2.0.0
% Frequency:77
% Platform:xWR14xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.01
% Maximum Radial Velocity(m/s):5.06
% Radial velocity resolution(m/s):0.64
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):9
% Range Peak Grouping:disabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 5 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 39 7 57.14 0 0 70 1 240 4884 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
frameCfg 0 1 16 0 33.333 1 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 768
peakGrouping 1 0 1 1 229
multiObjBeamForming 1 0.5
clutterRemoval 0
calibDcRangeSig 0 -5 8 256
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 123 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
calibData 0 0 0
sensorStart

81
autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1443_3d.cfg → autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1443_3d.cfg
View File

@@ -1,40 +1,41 @@
% ***************************************************************
% Created for SDK ver:01.02
% Created using Visualizer ver:1.2.0.0
% Frequency:77
% Platform:xWR14xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.01
% Maximum Radial Velocity(m/s):5.06
% Radial velocity resolution(m/s):0.64
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):9
% Range Peak Grouping:disabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 33.333 1 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 768
peakGrouping 1 0 1 1 229
multiObjBeamForming 1 0.5
clutterRemoval 0
calibDcRangeSig 0 -5 8 256
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 123 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
sensorStart
% ***************************************************************
% Created for SDK ver:01.02
% Created using Visualizer ver:1.2.0.0
% Frequency:77
% Platform:xWR14xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.01
% Maximum Radial Velocity(m/s):5.06
% Radial velocity resolution(m/s):0.64
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):9
% Range Peak Grouping:disabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 7 7 57.14 0 0 70 1 240 4884 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 33.333 1 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 768
peakGrouping 1 0 1 1 229
multiObjBeamForming 1 0.5
clutterRemoval 0
calibDcRangeSig 0 -5 8 256
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 123 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
calibData 0 0 0
sensorStart

51
autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1642_2d.cfg Normal file
View File

@@ -0,0 +1,51 @@
% ***************************************************************
% Created for SDK ver:03.03
% Created using Visualizer ver:3.3.0.0
% Frequency:77
% Platform:xWR16xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.02
% Maximum Radial Velocity(m/s):1
% Radial velocity resolution(m/s):0.13
% Frame Duration(msec):100
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 3 0
adcCfg 2 1
adcbufCfg -1 0 1 1 0
profileCfg 0 77 429 7 57.14 0 0 70 1 256 5209 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
frameCfg 0 1 16 0 100 1 0
lowPower 0 1
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 121 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.92
cfarFovCfg -1 1 -1 1.00
calibData 0 0 0
sensorStart

50
autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1843_2d.cfg Normal file
View File

@@ -0,0 +1,50 @@
% ***************************************************************
% Created for SDK ver:03.03
% Created using Visualizer ver:3.3.0.0
% Frequency:77
% Platform:xWR18xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.02
% Maximum Radial Velocity(m/s):6.45
% Radial velocity resolution(m/s):0.81
% Frame Duration(msec):100
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 5 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 77 18 7 57.14 0 0 70 1 256 5209 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
frameCfg 0 1 16 0 100 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 121 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.92
cfarFovCfg -1 1 -6.48 6.48
calibData 0 0 0
sensorStart

101
autonomous_robotics_ros/ti_mmwave_rospkg/cfg/1843_3d.cfg → autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1843_3d.cfg
View File

@@ -1,50 +1,51 @@
% ***************************************************************
% Created for SDK ver:03.02
% Created using Visualizer ver:3.2.0.1
% Frequency:77
% Platform:xWR18xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.02
% Maximum Radial Velocity(m/s):1
% Radial velocity resolution(m/s):0.13
% Frame Duration(msec):100
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 77 267 7 57.14 0 0 70 1 256 5209 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 100 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 0
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 121 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.92
cfarFovCfg -1 1 -1 1.00
sensorStart
% ***************************************************************
% Created for SDK ver:03.03
% Created using Visualizer ver:3.3.0.0
% Frequency:77
% Platform:xWR18xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.02
% Maximum Radial Velocity(m/s):1
% Radial velocity resolution(m/s):0.13
% Frame Duration(msec):100
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 77 267 7 57.14 0 0 70 1 256 5209 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 100 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 121 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.92
cfarFovCfg -1 1 -1 1.00
calibData 0 0 0
sensorStart

51
autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843AOP_2d.cfg Normal file
View File

@@ -0,0 +1,51 @@
% ***************************************************************
% Created for SDK ver:03.04
% Created using Visualizer ver:3.4.0.0
% Frequency:60
% Platform:xWR68xx_AOP
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):60 + 30
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.02
% Maximum Radial Velocity(m/s):1
% Radial velocity resolution(m/s):0.13
% Frame Duration(msec):100
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 567 7 57.14 0 0 70 1 256 5209 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
frameCfg 0 1 16 0 100 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0 1 0 -1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 121 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.92
cfarFovCfg -1 1 -1 1.00
calibData 0 0 0
sensorStart

7
autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843AOP_3d.cfg → autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843AOP_3d.cfg
View File

@@ -32,10 +32,10 @@ chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 16 0 33.333 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 12 0
cfarCfg -1 1 0 4 2 3 1 12 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
clutterRemoval -1 1
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
lvdsStreamCfg -1 0 0 0
@@ -47,4 +47,5 @@ analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.40
cfarFovCfg -1 1 -5.02 5.02
calibData 0 0 0
sensorStart

104
autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg → autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843ISK_3d.cfg
View File

@@ -1,51 +1,53 @@
% ***************************************************************
% Created for SDK ver:03.02
% Created using Visualizer ver:3.2.0.1
% Frequency:60
% Platform:xWR68xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.04
% Maximum Radial Velocity(m/s):5.09
% Radial velocity resolution(m/s):0.64
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 41 7 40 0 0 100 1 240 7500 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 33.333 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 15 0
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 99 0
CQSigImgMonitor 0 119 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 9.00
cfarFovCfg -1 1 -5.14 5.14
sensorStart
% ***************************************************************
% Created for SDK ver:03.02
% Created using Visualizer ver:3.2.0.1
% Frequency:60
% Platform:xWR68xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.04
% Maximum Radial Velocity(m/s):5.09
% Radial velocity resolution(m/s):0.64
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 41 7 40 0 0 100 1 240 7500 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 33.333 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 15 0
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 1
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 1 1 1
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 99 0
CQSigImgMonitor 0 119 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 9.00
cfarFovCfg -1 1 -5.14 5.14
calibData 0 0 0
sensorStart

95
autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843_2d.cfg → autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843_2d.cfg
View File

@@ -1,44 +1,51 @@
% ***************************************************************
% Created for SDK ver:03.00
% Created using Visualizer ver:3.0.0.1
% Frequency:60.25
% Platform:xWR68xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15
% Range Resolution(m):0.045
% Maximum unambiguous Range(m):9.02
% Maximum Radial Velocity(m/s):5.06
% Radial velocity resolution(m/s):0.64
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):9
% Doppler Detection Threshold (dB):9
% Range Peak Grouping:disabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 5 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60.25 48 7 75 0 0 50 1 240 3582 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
frameCfg 0 1 16 0 33.333 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 0 8 4 4 0 768 0
cfarCfg -1 1 0 4 2 3 1 768 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.59
cfarFovCfg -1 1 -5.06 5.06
sensorStart
% ***************************************************************
% Created for SDK ver:03.03
% Created using Visualizer ver:3.3.0.0
% Frequency:60
% Platform:xWR68xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15
% Range Resolution(m):0.044
% Maximum unambiguous Range(m):9.02
% Maximum Radial Velocity(m/s):1
% Radial velocity resolution(m/s):0.13
% Frame Duration(msec):100
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 5 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 567 7 57.14 0 0 70 1 256 5209 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
frameCfg 0 1 16 0 100 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 5 121 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 8.92
cfarFovCfg -1 1 -1 1.00
calibData 0 0 0
sensorStart

103
autonomous_robotics_ros/ti_mmwave_rospkg/cfg/6843_3d.cfg → autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/6843_3d.cfg
View File

@@ -1,51 +1,52 @@
% ***************************************************************
% Created for SDK ver:03.02
% Created using Visualizer ver:3.2.0.1
% Frequency:60
% Platform:xWR68xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.04
% Maximum Radial Velocity(m/s):5.09
% Radial velocity resolution(m/s):0.64
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 41 7 40 0 0 100 1 240 7500 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 33.333 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 15 0
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 99 0
CQSigImgMonitor 0 119 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 9.00
cfarFovCfg -1 1 -5.14 5.14
sensorStart
% ***************************************************************
% Created for SDK ver:03.02
% Created using Visualizer ver:3.2.0.1
% Frequency:60
% Platform:xWR68xx
% Scene Classifier:best_range_res
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.04
% Maximum Radial Velocity(m/s):5.09
% Radial velocity resolution(m/s):0.64
% Frame Duration(msec):33.333
% Range Detection Threshold (dB):15
% Doppler Detection Threshold (dB):15
% Range Peak Grouping:enabled
% Doppler Peak Grouping:enabled
% Static clutter removal:disabled
% Angle of Arrival FoV: Full FoV
% Range FoV: Full FoV
% Doppler FoV: Full FoV
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 41 7 40 0 0 100 1 240 7500 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 33.333 1 0
lowPower 0 0
guiMonitor -1 1 1 0 0 0 1
cfarCfg -1 0 2 8 4 3 0 15 1
cfarCfg -1 1 0 4 2 3 1 15 1
multiObjBeamForming -1 1 0.5
clutterRemoval -1 1
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 1
lvdsStreamCfg -1 0 0 0
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
measureRangeBiasAndRxChanPhase 0 1.5 0.2
CQRxSatMonitor 0 3 4 99 0
CQSigImgMonitor 0 119 4
analogMonitor 0 0
aoaFovCfg -1 -90 90 -90 90
cfarFovCfg -1 0 0 9.00
cfarFovCfg -1 1 -5.14 5.14
calibData 0 0 0
sensorStart

294
autonomous_robotics_ros/ti_mmwave_rospkg/include/DataHandlerClass.h → autonomous_robotics_ros/src/ti_mmwave_rospkg/include/DataHandlerClass.h Normal file → Executable file
View File

@@ -1,152 +1,142 @@
/*
* DataHandlerClass.cpp
*
* This file defines the DataUARTHandler class.
*
*
* Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef _DATA_HANDLER_CLASS_
#define _DATA_HANDLER_CLASS_
#include "mmWave.h"
#include <iostream>
#include <cstdio>
#include <cstdlib>
#include <boost/shared_ptr.hpp>
#include "ros/ros.h"
#include "sensor_msgs/PointCloud2.h"
#define COUNT_SYNC_MAX 2
class DataUARTHandler{
public:
/*Constructor*/
//void DataUARTHandler(ros::NodeHandle* nh) : currentBufp(&pingPongBuffers[0]) , nextBufp(&pingPongBuffers[1]) {}
DataUARTHandler(ros::NodeHandle* nh);
/*User callable function to set the UARTPort*/
void setUARTPort(char* mySerialPort);
/*User callable function to set the BaudRate*/
void setBaudRate(int myBaudRate);
/*User callable function to set maxAllowedElevationAngleDeg*/
void setMaxAllowedElevationAngleDeg(int myMaxAllowedElevationAngleDeg);
/*User callable function to set maxAllowedElevationAngleDeg*/
void setMaxAllowedAzimuthAngleDeg(int myMaxAllowedAzimuthAngleDeg);
void setNodeHandle(ros::NodeHandle* nh);
/*User callable function to start the handler's internal threads*/
void start(void);
/*Helper functions to allow pthread compatability*/
static void* readIncomingData_helper(void *context);
static void* sortIncomingData_helper(void *context);
static void* syncedBufferSwap_helper(void *context);
/*Sorted mmwDemo Data structure*/
mmwDataPacket mmwData;
private:
/*Contains the name of the serial port*/
char* dataSerialPort;
/*Contains the baud Rate*/
int dataBaudRate;
/*Contains the max_allowed_elevation_angle_deg (points with elevation angles
outside +/- max_allowed_elevation_angle_deg will be removed)*/
int maxAllowedElevationAngleDeg;
/*Contains the max_allowed_azimuth_angle_deg (points with azimuth angles
outside +/- max_allowed_azimuth_angle_deg will be removed)*/
int maxAllowedAzimuthAngleDeg;
/*Mutex protected variable which synchronizes threads*/
int countSync;
/*Read/Write Buffers*/
std::vector<uint8_t> pingPongBuffers[2];
/*Pointer to current data (sort)*/
std::vector<uint8_t>* currentBufp;
/*Pointer to new data (read)*/
std::vector<uint8_t>* nextBufp;
/*Mutex protecting the countSync variable */
pthread_mutex_t countSync_mutex;
/*Mutex protecting the nextBufp pointer*/
pthread_mutex_t nextBufp_mutex;
/*Mutex protecting the currentBufp pointer*/
pthread_mutex_t currentBufp_mutex;
/*Condition variable which blocks the Swap Thread until signaled*/
pthread_cond_t countSync_max_cv;
/*Condition variable which blocks the Read Thread until signaled*/
pthread_cond_t read_go_cv;
/*Condition variable which blocks the Sort Thread until signaled*/
pthread_cond_t sort_go_cv;
/*Swap Buffer Pointers Thread*/
void *syncedBufferSwap(void);
/*Checks if the magic word was found*/
int isMagicWord(uint8_t last8Bytes[8]);
/*Read incoming UART Data Thread*/
void *readIncomingData(void);
/*Sort incoming UART Data Thread*/
void *sortIncomingData(void);
ros::NodeHandle* nodeHandle;
ros::Publisher DataUARTHandler_pub;
};
#endif
#ifndef _DATA_HANDLER_CLASS_
#define _DATA_HANDLER_CLASS_
#include <ti_mmwave_rospkg/RadarScan.h>
#include "mmWave.h"
#include <iostream>
#include <cstdio>
#include <cstdlib>
#include <boost/shared_ptr.hpp>
#include "ros/ros.h"
#include "sensor_msgs/PointCloud2.h"
#include <pthread.h>
#include <algorithm>
#include "pcl_ros/point_cloud.h"
#include "sensor_msgs/PointField.h"
#include "sensor_msgs/PointCloud2.h"
#include "sensor_msgs/point_cloud2_iterator.h"
#include <pcl/io/pcd_io.h>
#include <pcl/point_types.h>
#include <visualization_msgs/Marker.h>
#include <cmath>
#define COUNT_SYNC_MAX 2
class DataUARTHandler{
public:
/*Constructor*/
//void DataUARTHandler(ros::NodeHandle* nh) : currentBufp(&pingPongBuffers[0]) , nextBufp(&pingPongBuffers[1]) {}
DataUARTHandler(ros::NodeHandle* nh);
void setFrameID(char* myFrameID);
/*User callable function to set the UARTPort*/
void setUARTPort(char* mySerialPort);
/*User callable function to set the BaudRate*/
void setBaudRate(int myBaudRate);
/*User callable function to set maxAllowedElevationAngleDeg*/
void setMaxAllowedElevationAngleDeg(int myMaxAllowedElevationAngleDeg);
/*User callable function to set maxAllowedElevationAngleDeg*/
void setMaxAllowedAzimuthAngleDeg(int myMaxAllowedAzimuthAngleDeg);
void setNodeHandle(ros::NodeHandle* nh);
/*User callable function to start the handler's internal threads*/
void start(void);
/*Helper functions to allow pthread compatability*/
static void* readIncomingData_helper(void *context);
static void* sortIncomingData_helper(void *context);
static void* syncedBufferSwap_helper(void *context);
/*Sorted mmwDemo Data structure*/
mmwDataPacket mmwData;
private:
int nr;
int nd;
int ntx;
float fs;
float fc;
float BW;
float PRI;
float tfr;
float max_range;
float vrange;
float max_vel;
float vvel;
char* frameID;
/*Contains the name of the serial port*/
char* dataSerialPort;
/*Contains the baud Rate*/
int dataBaudRate;
/*Contains the max_allowed_elevation_angle_deg (points with elevation angles
outside +/- max_allowed_elevation_angle_deg will be removed)*/
int maxAllowedElevationAngleDeg;
/*Contains the max_allowed_azimuth_angle_deg (points with azimuth angles
outside +/- max_allowed_azimuth_angle_deg will be removed)*/
int maxAllowedAzimuthAngleDeg;
/*Mutex protected variable which synchronizes threads*/
int countSync;
/*Read/Write Buffers*/
std::vector<uint8_t> pingPongBuffers[2];
/*Pointer to current data (sort)*/
std::vector<uint8_t>* currentBufp;
/*Pointer to new data (read)*/
std::vector<uint8_t>* nextBufp;
/*Mutex protecting the countSync variable */
pthread_mutex_t countSync_mutex;
/*Mutex protecting the nextBufp pointer*/
pthread_mutex_t nextBufp_mutex;
/*Mutex protecting the currentBufp pointer*/
pthread_mutex_t currentBufp_mutex;
/*Condition variable which blocks the Swap Thread until signaled*/
pthread_cond_t countSync_max_cv;
/*Condition variable which blocks the Read Thread until signaled*/
pthread_cond_t read_go_cv;
/*Condition variable which blocks the Sort Thread until signaled*/
pthread_cond_t sort_go_cv;
/*Swap Buffer Pointers Thread*/
void *syncedBufferSwap(void);
/*Checks if the magic word was found*/
int isMagicWord(uint8_t last8Bytes[8]);
/*Read incoming UART Data Thread*/
void *readIncomingData(void);
/*Sort incoming UART Data Thread*/
void *sortIncomingData(void);
void visualize(const ti_mmwave_rospkg::RadarScan &msg);
ros::NodeHandle* nodeHandle;
ros::Publisher DataUARTHandler_pub;
ros::Publisher radar_scan_pub;
ros::Publisher marker_pub;
};
#endif

35
autonomous_robotics_ros/src/ti_mmwave_rospkg/include/ParameterParser.h Executable file
View File

@@ -0,0 +1,35 @@
#ifndef _PARAM_PARSER_CLASS_
#define _PARAM_PARSER_CLASS_
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "ti_mmwave_rospkg/mmWaveCLI.h"
#include <nodelet/nodelet.h>
#include <pluginlib/class_list_macros.h>
#include <cstdlib>
#include <fstream>
#include <iostream>
#include <cstdio>
#include <sstream>
#include <string>
#include <vector>
namespace ti_mmwave_rospkg {
class ParameterParser : public nodelet::Nodelet{
public:
ParameterParser();
void ParamsParser(ti_mmwave_rospkg::mmWaveCLI &srv, ros::NodeHandle &n);
void CalParams(ros::NodeHandle &nh);
private:
virtual void onInit();
ti_mmwave_rospkg::mmWaveCLI srv;
};
}
#endif

384
autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWave.h → autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWave.h Normal file → Executable file
View File

@@ -1,194 +1,190 @@
/*
* mmWave.h
*
* This file contains various defines used within this package.
*
*
* Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef _TI_IWR14XX_
#define _TI_IWR14XX_
#include <iostream>
#include <iostream>
#include <cstdio>
#include "serial/serial.h"
#include "ros/ros.h"
#include <boost/thread.hpp>
#include <cstdint>
enum MmwDemo_Output_TLV_Types
{
MMWDEMO_OUTPUT_MSG_NULL = 0,
/*! @brief List of detected points */
MMWDEMO_OUTPUT_MSG_DETECTED_POINTS,
/*! @brief Range profile */
MMWDEMO_OUTPUT_MSG_RANGE_PROFILE,
/*! @brief Noise floor profile */
MMWDEMO_OUTPUT_MSG_NOISE_PROFILE,
/*! @brief Samples to calculate static azimuth heatmap */
MMWDEMO_OUTPUT_MSG_AZIMUTH_STATIC_HEAT_MAP,
/*! @brief Range/Doppler detection matrix */
MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP,
/*! @brief Stats information */
MMWDEMO_OUTPUT_MSG_STATS,
/*! @brief List of detected points side information */
MMWDEMO_OUTPUT_MSG_DETECTED_POINTS_SIDE_INFO,
MMWDEMO_OUTPUT_MSG_MAX
};
enum SorterState{ READ_HEADER,
CHECK_TLV_TYPE,
READ_OBJ_STRUCT,
READ_LOG_MAG_RANGE,
READ_NOISE,
READ_AZIMUTH,
READ_DOPPLER,
READ_STATS,
SWAP_BUFFERS,
READ_SIDE_INFO};
struct MmwDemo_output_message_header_t
{
/*! brief Version: : MajorNum * 2^24 + MinorNum * 2^16 + BugfixNum * 2^8 + BuildNum */
uint32_t version;
/*! @brief Total packet length including header in Bytes */
uint32_t totalPacketLen;
/*! @brief platform type */
uint32_t platform;
/*! @brief Frame number */
uint32_t frameNumber;
/*! @brief Time in CPU cycles when the message was created. For XWR16xx: DSP CPU cycles, for XWR14xx: R4F CPU cycles */
uint32_t timeCpuCycles;
/*! @brief Number of detected objects */
uint32_t numDetectedObj;
/*! @brief Number of TLVs */
uint32_t numTLVs;
/*! @brief Sub-frame Number (not used with XWR14xx) */
uint32_t subFrameNumber;
};
// Detected object structure for mmWave SDK 1.x and 2.x
struct MmwDemo_DetectedObj
{
uint16_t rangeIdx; /*!< @brief Range index */
uint16_t dopplerIdx; /*!< @brief Dopler index */
uint16_t peakVal; /*!< @brief Peak value */
int16_t x; /*!< @brief x - coordinate in meters. Q format depends on the range resolution */
int16_t y; /*!< @brief y - coordinate in meters. Q format depends on the range resolution */
int16_t z; /*!< @brief z - coordinate in meters. Q format depends on the range resolution */
};
// Detected object structures for mmWave SDK 3.x (DPIF_PointCloudCartesian_t and DPIF_PointCloudSideInfo_t)
/**
* @brief
* Point cloud definition in Cartesian coordinate system - floating point format
*
*/
typedef struct DPIF_PointCloudCartesian_t
{
/*! @brief x - coordinate in meters */
float x;
/*! @brief y - coordinate in meters */
float y;
/*! @brief z - coordinate in meters */
float z;
/*! @brief Doppler velocity estimate in m/s. Positive velocity means target
* is moving away from the sensor and negative velocity means target
* is moving towards the sensor. */
float velocity;
}DPIF_PointCloudCartesian;
/**
* @brief
* Point cloud side information such as SNR and noise level
*
*/
typedef struct DPIF_PointCloudSideInfo_t
{
/*! @brief snr - CFAR cell to side noise ratio in dB expressed in 0.1 steps of dB */
int16_t snr;
/*! @brief y - CFAR noise level of the side of the detected cell in dB expressed in 0.1 steps of dB */
int16_t noise;
}DPIF_PointCloudSideInfo;
struct mmwDataPacket{
MmwDemo_output_message_header_t header;
uint16_t numObjOut;
uint16_t xyzQFormat; // only used for SDK 1.x and 2.x
MmwDemo_DetectedObj objOut; // only used for SDK 1.x and 2.x
DPIF_PointCloudCartesian_t newObjOut; // used for SDK 3.x
DPIF_PointCloudSideInfo_t sideInfo; // used for SDK 3.x
};
const uint8_t magicWord[8] = {2, 1, 4, 3, 6, 5, 8, 7};
#endif
/*
* mmWave.h
*
* This file contains various defines used within this package.
*
*
* Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef _TI_IWR14XX_
#define _TI_IWR14XX_
#include <iostream>
#include <iostream>
#include <cstdio>
#include "serial/serial.h"
#include "ros/ros.h"
#include <boost/thread.hpp>
#include <cstdint>
enum MmwDemo_Output_TLV_Types
{
MMWDEMO_OUTPUT_MSG_NULL = 0,
/*! @brief List of detected points */
MMWDEMO_OUTPUT_MSG_DETECTED_POINTS,
/*! @brief Range profile */
MMWDEMO_OUTPUT_MSG_RANGE_PROFILE,
/*! @brief Noise floor profile */
MMWDEMO_OUTPUT_MSG_NOISE_PROFILE,
/*! @brief Samples to calculate static azimuth heatmap */
MMWDEMO_OUTPUT_MSG_AZIMUTH_STATIC_HEAT_MAP,
/*! @brief Range/Doppler detection matrix */
MMWDEMO_OUTPUT_MSG_RANGE_DOPPLER_HEAT_MAP,
/*! @brief Stats information */
MMWDEMO_OUTPUT_MSG_STATS,
/*! @brief List of detected points side information */
MMWDEMO_OUTPUT_MSG_DETECTED_POINTS_SIDE_INFO,
MMWDEMO_OUTPUT_MSG_MAX
};
enum SorterState{ READ_HEADER,
CHECK_TLV_TYPE,
READ_OBJ_STRUCT,
READ_LOG_MAG_RANGE,
READ_NOISE,
READ_AZIMUTH,
READ_DOPPLER,
READ_STATS,
SWAP_BUFFERS,
READ_SIDE_INFO};
struct MmwDemo_output_message_header_t
{
/*! brief Version: : MajorNum * 2^24 + MinorNum * 2^16 + BugfixNum * 2^8 + BuildNum */
uint32_t version;
/*! @brief Total packet length including header in Bytes */
uint32_t totalPacketLen;
/*! @brief platform type */
uint32_t platform;
/*! @brief Frame number */
uint32_t frameNumber;
/*! @brief Time in CPU cycles when the message was created. For XWR16xx: DSP CPU cycles, for XWR14xx: R4F CPU cycles */
uint32_t timeCpuCycles;
/*! @brief Number of detected objects */
uint32_t numDetectedObj;
/*! @brief Number of TLVs */
uint32_t numTLVs;
/*! @brief Sub-frame Number (not used with XWR14xx) */
uint32_t subFrameNumber;
};
// Detected object structure for mmWave SDK 1.x and 2.x
struct MmwDemo_DetectedObj
{
uint16_t rangeIdx; /*!< @brief Range index */
uint16_t dopplerIdx; /*!< @brief Dopler index */
uint16_t peakVal; /*!< @brief Peak value */
int16_t x; /*!< @brief x - coordinate in meters. Q format depends on the range resolution */
int16_t y; /*!< @brief y - coordinate in meters. Q format depends on the range resolution */
int16_t z; /*!< @brief z - coordinate in meters. Q format depends on the range resolution */
};
// Detected object structures for mmWave SDK 3.x (DPIF_PointCloudCartesian_t and DPIF_PointCloudSideInfo_t)
/**
* @brief
* Point cloud definition in Cartesian coordinate system - floating point format
*
*/
typedef struct DPIF_PointCloudCartesian_t
{
/*! @brief x - coordinate in meters */
float x;
/*! @brief y - coordinate in meters */
float y;
/*! @brief z - coordinate in meters */
float z;
/*! @brief Doppler velocity estimate in m/s. Positive velocity means target
* is moving away from the sensor and negative velocity means target
* is moving towards the sensor. */
float velocity;
}DPIF_PointCloudCartesian;
/**
* @brief
* Point cloud side information such as SNR and noise level
*
*/
typedef struct DPIF_PointCloudSideInfo_t
{
/*! @brief snr - CFAR cell to side noise ratio in dB expressed in 0.1 steps of dB */
int16_t snr;
/*! @brief y - CFAR noise level of the side of the detected cell in dB expressed in 0.1 steps of dB */
int16_t noise;
}DPIF_PointCloudSideInfo;
struct mmwDataPacket{
MmwDemo_output_message_header_t header;
uint16_t numObjOut;
uint16_t xyzQFormat; // only used for SDK 1.x and 2.x
MmwDemo_DetectedObj objOut; // only used for SDK 1.x and 2.x
DPIF_PointCloudCartesian_t newObjOut; // used for SDK 3.x
DPIF_PointCloudSideInfo_t sideInfo; // used for SDK 3.x
};
const uint8_t magicWord[8] = {2, 1, 4, 3, 6, 5, 8, 7};
#endif

166
autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp → autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveCommSrv.hpp Normal file → Executable file
View File

@@ -1,83 +1,83 @@
/*
* mmWaveCommSrv.hpp
*
* This file defines a ROS nodelet which will open up a serial port provided by the user
* at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo
* User UART to be used for board configuration.
*
*
* Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef MMWAVE_COMM_SRV_H
#define MMWAVE_COMM_SRV_H
/*Include ROS specific headers*/
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "serial/serial.h"
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
/*Include standard C/C++ headers*/
#include <iostream>
#include <cstdio>
#include <sstream>
/*mmWave Driver Headers*/
#include <ti_mmwave_rospkg/mmWaveCLI.h>
namespace ti_mmwave_rospkg
{
class mmWaveCommSrv : public nodelet::Nodelet
{
public:
mmWaveCommSrv();
private:
virtual void onInit();
bool commSrv_cb(ti_mmwave_rospkg::mmWaveCLI::Request &req, ti_mmwave_rospkg::mmWaveCLI::Response &res);
ros::ServiceServer commSrv;
std::string mySerialPort;
int myBaudRate;
}; //Class mmWaveCommSrv
} //namespace ti_mmwave_rospkg
#endif
/*
* mmWaveCommSrv.hpp
*
* This file defines a ROS nodelet which will open up a serial port provided by the user
* at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo
* User UART to be used for board configuration.
*
*
* Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef MMWAVE_COMM_SRV_H
#define MMWAVE_COMM_SRV_H
/*Include ROS specific headers*/
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "serial/serial.h"
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
/*Include standard C/C++ headers*/
#include <iostream>
#include <cstdio>
#include <sstream>
/*mmWave Driver Headers*/
#include <ti_mmwave_rospkg/mmWaveCLI.h>
namespace ti_mmwave_rospkg
{
class mmWaveCommSrv : public nodelet::Nodelet
{
public:
mmWaveCommSrv();
private:
virtual void onInit();
bool commSrv_cb(ti_mmwave_rospkg::mmWaveCLI::Request &req, ti_mmwave_rospkg::mmWaveCLI::Response &res);
ros::ServiceServer commSrv;
std::string mySerialPort;
int myBaudRate;
}; //Class mmWaveCommSrv
} //namespace ti_mmwave_rospkg
#endif

160
autonomous_robotics_ros/ti_mmwave_rospkg/include/mmWaveDataHdl.hpp → autonomous_robotics_ros/src/ti_mmwave_rospkg/include/mmWaveDataHdl.hpp Normal file → Executable file
View File

@@ -1,80 +1,80 @@
/*
* mmWaveDataHdl.hpp
*
* This file defines a ROS nodelet which will open up a serial port provided by the user
* at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo
* Data UART to be used for board configuration.
*
*
* Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef MMWAVE_DATA_HDL_H
#define MMWAVE_DATA_HDL_H
/*Include ROS specific headers*/
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "serial/serial.h"
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
/*Include standard C/C++ headers*/
#include <iostream>
#include <cstdio>
#include <sstream>
/*mmWave Driver Headers*/
#include "DataHandlerClass.h"
namespace ti_mmwave_rospkg
{
class mmWaveDataHdl : public nodelet::Nodelet
{
public:
mmWaveDataHdl();
private:
virtual void onInit();
//char* mySerialPort;
//int myBaudRate;
}; //Class mmWaveDataHdl
} //namespace ti_mmwave_rospkg
#endif
/*
* mmWaveDataHdl.hpp
*
* This file defines a ROS nodelet which will open up a serial port provided by the user
* at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo
* Data UART to be used for board configuration.
*
*
* Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
*
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*
*/
#ifndef MMWAVE_DATA_HDL_H
#define MMWAVE_DATA_HDL_H
/*Include ROS specific headers*/
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "serial/serial.h"
#include <pluginlib/class_list_macros.h>
#include <nodelet/nodelet.h>
/*Include standard C/C++ headers*/
#include <iostream>
#include <cstdio>
#include <sstream>
/*mmWave Driver Headers*/
#include "DataHandlerClass.h"
namespace ti_mmwave_rospkg
{
class mmWaveDataHdl : public nodelet::Nodelet
{
public:
mmWaveDataHdl();
private:
virtual void onInit();
//char* mySerialPort;
//int myBaudRate;
}; //Class mmWaveDataHdl
} //namespace ti_mmwave_rospkg
#endif

9
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_all.launch Executable file
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@@ -0,0 +1,9 @@
<launch>
<!-- Call mmWave sensor launch file -->
<include file="$(find ti_mmwave_rospkg)/launch/bubble_sensor_north.launch"> </include>
<include file="$(find ti_mmwave_rospkg)/launch/bubble_sensor_east.launch"> </include>
<include file="$(find ti_mmwave_rospkg)/launch/bubble_sensor_south.launch"> </include>
<include file="$(find ti_mmwave_rospkg)/launch/bubble_sensor_west.launch"> </include>
</launch>

30
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_east.launch Normal file
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@@ -0,0 +1,30 @@
<!--
This file will launch rViz along with the mmWave sensor node and configure a TI mmWave 1642 sensor using a 2D config
-->
<launch>
<!-- Input arguments -->
<arg name="device" doc="TI mmWave sensor device type [1443, 1642]"/>
<arg name="config" doc="TI mmWave sensor device configuration [3d_best_range_res (not supported by 1642 EVM), 2d_best_range_res]"/>
<arg name="max_allowed_elevation_angle_deg" default="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
<arg name="max_allowed_azimuth_angle_deg" default="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
<!-- mmWave_Manager node -->
<node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_1" output="screen">
<param name="command_port" value="/dev/mmWave_00D83B95_00" />
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/mmWave_00D83B95_01" />
<param name="data_rate" value="921600" />
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="/ti_mmwave_1"/>
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_1"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_1" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="tf" type="static_transform_publisher" name="radar_baselink_1" args="0 -0.19 0.18 1.57 3.1415 0 base_link ti_mmwave_1 100"/>
</launch>

32
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_north.launch Normal file
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@@ -0,0 +1,32 @@
<!--
This file will launch rViz along with the mmWave sensor node and configure a TI mmWave 1642 sensor using a 2D config
-->
<launch>
<!-- Input arguments -->
<arg name="device" doc="TI mmWave sensor device type [1443, 1642]"/>
<arg name="config" doc="TI mmWave sensor device configuration [3d_best_range_res (not supported by 1642 EVM), 2d_best_range_res]"/>
<arg name="max_allowed_elevation_angle_deg" default="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
<arg name="max_allowed_azimuth_angle_deg" default="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
<!-- mmWave_Manager node -->
<node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_0" output="screen">
<param name="command_port" value="/dev/mmWave_00CE0FCA_00" />
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/mmWave_00CE0FCA_01" />
<param name="data_rate" value="921600" />
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="/ti_mmwave_0"/>
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_0"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0.19 0 0.18 0 0 3.1415 base_link ti_mmwave_0 100"/>
<!--
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ti_mmwave_rospkg)/launch/rviz/ti_mmwave_multi.rviz"/>
-->
</launch>

30
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_south.launch Normal file
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@@ -0,0 +1,30 @@
<!--
This file will launch rViz along with the mmWave sensor node and configure a TI mmWave 1642 sensor using a 2D config
-->
<launch>
<!-- Input arguments -->
<arg name="device" doc="TI mmWave sensor device type [1443, 1642]"/>
<arg name="config" doc="TI mmWave sensor device configuration [3d_best_range_res (not supported by 1642 EVM), 2d_best_range_res]"/>
<arg name="max_allowed_elevation_angle_deg" default="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
<arg name="max_allowed_azimuth_angle_deg" default="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
<!-- mmWave_Manager node -->
<node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_2" output="screen">
<param name="command_port" value="/dev/mmWave_00CE0E81_00" />
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/mmWave_00CE0E81_01" />
<param name="data_rate" value="921600" />
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="/ti_mmwave_2"/>
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_2"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_2" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="tf" type="static_transform_publisher" name="radar_baselink_2" args="-.19 0 0.18 3.14 0 3.14 base_link ti_mmwave_2 100"/>
</launch>

30
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/bubble_sensor_west.launch Normal file
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@@ -0,0 +1,30 @@
<!--
This file will launch rViz along with the mmWave sensor node and configure a TI mmWave 1642 sensor using a 2D config
-->
<launch>
<!-- Input arguments -->
<arg name="device" doc="TI mmWave sensor device type [1443, 1642]"/>
<arg name="config" doc="TI mmWave sensor device configuration [3d_best_range_res (not supported by 1642 EVM), 2d_best_range_res]"/>
<arg name="max_allowed_elevation_angle_deg" default="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
<arg name="max_allowed_azimuth_angle_deg" default="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
<!-- mmWave_Manager node -->
<node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_3" output="screen">
<param name="command_port" value="/dev/mmWave_00CE0FCD_00" />
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/mmWave_00CE0FCD_01" />
<param name="data_rate" value="921600" />
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="/ti_mmwave_3"/>
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_3"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_3" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="tf" type="static_transform_publisher" name="radar_baselink_3" args="0 0.19 0.18 -1.57 3.1415 0 base_link ti_mmwave_3 100"/>
</launch>

40
autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/camera_overlay.launch Executable file
View File

@@ -0,0 +1,40 @@
<launch>
<arg name="device" value="1642" doc="TI mmWave sensor device type [1443, 1642]"/>
<arg name="config" value="2d" doc="TI mmWave sensor device configuration [3d_best_range_res (not supported by 1642 EVM), 2d_best_range_res]"/>
<arg name="max_allowed_elevation_angle_deg" default="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
<arg name="max_allowed_azimuth_angle_deg" default="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
<node name="usb_webcam" pkg="usb_webcam" type="usb_webcam_node" output="screen" >
<param name="video_device" value="/dev/video1" />
<param name="camera_info_url" value="file:///home/leo/workspace/usb_webcam/src/cfg/elp-usb8mp02g-l36.yaml" />
<param name="image_width" value="640" />
<param name="image_height" value="480" />
<param name="pixel_format" value="yuyv" />
<param name="camera_frame_id" value="usb_webcam" />
<param name="io_method" value="mmap"/>
<param name="framerate" value="30" />
<param name="autoexposure" value="true" />
<param name="autofocus" value="true" />
</node>
<node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_0" output="screen">
<param name="command_port" value="/dev/ttyACM0" />
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/ttyACM1" />
<param name="data_rate" value="921600" />
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="/ti_mmwave_0"/>
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_0"/>
</node>
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/1642es2_short_range.cfg" output="screen" />
<node pkg="tf" type="static_transform_publisher" name="radar_baselink" args="0 0 0 0 0 0 ti_mmwave_pcl ti_mmwave_0 100"/>
<node pkg="tf" type="static_transform_publisher" name="camera_baselink" args="-2 0 .95 -1.5707963267948966 0 -1.5707963267948966 ti_mmwave_pcl usb_webcam 100"/>
<!-- Launch Rviz with pre-defined configuration to view mmWave sensor detected object data (color by intensity) -->
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find ti_mmwave_rospkg)/launch/rviz/ti_mmwave_camera_overlay.rviz"/>
</launch>

8
autonomous_robotics_ros/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch → autonomous_robotics_ros/src/ti_mmwave_rospkg/launch/ti_mmwave_sensor.launch
View File

@@ -12,15 +12,19 @@
<!-- mmWave_Manager node -->
<node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="mmWave_Manager" output="screen">
<param name="command_port" value="/dev/ttyACM0" />
<param name="command_port" value="/dev/mmWave_00CE0FCA_00" />
<param name="command_rate" value="115200" />
<param name="data_port" value="/dev/ttyACM1" />
<param name="data_port" value="/dev/mmWave_00CE0FCA_01" />
<param name="data_rate" value="921600" />
<param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)" />
<param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)" />
<param name="frame_id" value="/ti_mmwave"/>
<remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl"/>
</node>
<!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
<node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="mmWaveQuickConfig" args="$(find ti_mmwave_rospkg)/cfg/$(arg device)_$(arg config).cfg" output="screen" />
<node pkg="tf" type="static_transform_publisher" name="radar_baselink_0" args="0.19 0 0.18 0 0 3.1415 base_link ti_mmwave 100"/>
</launch>

32
autonomous_robotics_ros/ti_mmwave_rospkg/mmWave_nodelets.xml → autonomous_robotics_ros/src/ti_mmwave_rospkg/mmWave_nodelets.xml Normal file → Executable file
View File

@@ -1,16 +1,16 @@
<library path="lib/libmmwave">
<class name="ti_mmwave_rospkg/mmWaveCommSrv" type="ti_mmwave_rospkg::mmWaveCommSrv" base_class_type="nodelet::Nodelet">
<description>
Command Service Nodelet
</description>
</class>
<class name="ti_mmwave_rospkg/mmWaveDataHdl" type="ti_mmwave_rospkg::mmWaveDataHdl" base_class_type="nodelet::Nodelet">
<description>
Data Handler Nodelet
</description>
</class>
<depend>serial</depend>
</library>
<library path="lib/libmmwave">
<class name="ti_mmwave_rospkg/mmWaveCommSrv" type="ti_mmwave_rospkg::mmWaveCommSrv" base_class_type="nodelet::Nodelet">
<description>
Command Service Nodelet
</description>
</class>
<class name="ti_mmwave_rospkg/mmWaveDataHdl" type="ti_mmwave_rospkg::mmWaveDataHdl" base_class_type="nodelet::Nodelet">
<description>
Data Handler Nodelet
</description>
</class>
<depend>serial</depend>
</library>

10
autonomous_robotics_ros/src/ti_mmwave_rospkg/msg/RadarScan.msg Executable file
View File

@@ -0,0 +1,10 @@
Header header
uint16 point_id
float32 x
float32 y
float32 z
float32 range
float32 velocity
uint16 doppler_bin
float32 bearing
float32 intensity

118
autonomous_robotics_ros/ti_mmwave_rospkg/package.xml → autonomous_robotics_ros/src/ti_mmwave_rospkg/package.xml Normal file → Executable file
View File

@@ -1,59 +1,59 @@
<?xml version="1.0"?>
<package>
<name>ti_mmwave_rospkg</name>
<version>1.5.0</version>
<description>The ti_mmwave_rospkg package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="maintainer@example.com">maintainer</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>BSD</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/ti_mmwave_rospkg</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>nodelet</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>serial</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<run_depend>nodelet</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>serial</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>message_runtime</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<nodelet plugin="${prefix}/mmWave_nodelets.xml" />
</export>
</package>
<?xml version="1.0"?>
<package>
<name>ti_mmwave_rospkg</name>
<version>3.3.0</version>
<description>The ti_mmwave_rospkg package. Publish messages with doppler information. Multi-sensor and camera overlay support. Modified by Leo Zhang</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="dr.leo.zhang@outlook.com">Leo Zhang</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>BSD</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<url type="website">https://github.com/radar-lab/ti_mmwave_rospkg</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<author email="dr.leo.zhang@outlook.com">Leo Zhang</author>
<!-- The *_depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use run_depend for packages you need at runtime: -->
<!-- <run_depend>message_runtime</run_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>nodelet</build_depend>
<build_depend>roscpp</build_depend>
<build_depend>serial</build_depend>
<build_depend>std_msgs</build_depend>
<build_depend>message_generation</build_depend>
<run_depend>nodelet</run_depend>
<run_depend>roscpp</run_depend>
<run_depend>serial</run_depend>
<run_depend>std_msgs</run_depend>
<run_depend>message_runtime</run_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<nodelet plugin="${prefix}/mmWave_nodelets.xml" />
</export>
</package>

1732
autonomous_robotics_ros/ti_mmwave_rospkg/src/DataHandlerClass.cpp → autonomous_robotics_ros/src/ti_mmwave_rospkg/src/DataHandlerClass.cpp Normal file → Executable file
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155
autonomous_robotics_ros/src/ti_mmwave_rospkg/src/ParameterParser.cpp Executable file
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/*
* @file ParameterParser.cpp
*
* @brief
* Calculates parameters from QuickConfig.
*
* \par
* NOTE:
* (C) Copyright 2020 Texas Instruments, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "ParameterParser.h"
namespace ti_mmwave_rospkg {
PLUGINLIB_EXPORT_CLASS(ti_mmwave_rospkg::ParameterParser, nodelet::Nodelet);
ParameterParser::ParameterParser() {}
void ParameterParser::onInit() {}
void ParameterParser::ParamsParser(ti_mmwave_rospkg::mmWaveCLI &srv, ros::NodeHandle &nh) {
// ROS_ERROR("%s",srv.request.comm.c_str());
// ROS_ERROR("%s",srv.response.resp.c_str());
std::vector <std::string> v;
std::string s = srv.request.comm.c_str();
std::istringstream ss(s);
std::string token;
std::string req;
int i = 0;
while (std::getline(ss, token, ' ')) {
v.push_back(token);
if (i > 0) {
if (!req.compare("profileCfg")) {
switch (i) {
case 2:
nh.setParam("/ti_mmwave/startFreq", std::stof(token)); break;
case 3:
nh.setParam("/ti_mmwave/idleTime", std::stof(token)); break;
case 4:
nh.setParam("/ti_mmwave/adcStartTime", std::stof(token)); break;
case 5:
nh.setParam("/ti_mmwave/rampEndTime", std::stof(token)); break;
case 8:
nh.setParam("/ti_mmwave/freqSlopeConst", std::stof(token)); break;
case 10:
nh.setParam("/ti_mmwave/numAdcSamples", std::stoi(token)); break;
case 11:
nh.setParam("/ti_mmwave/digOutSampleRate", std::stof(token)); break;
case 14:
nh.setParam("/ti_mmwave/rxGain", std::stof(token)); break;
}
} else if (!req.compare("frameCfg")) {
switch (i) {
case 1:
nh.setParam("/ti_mmwave/chirpStartIdx", std::stoi(token)); break;
case 2:
nh.setParam("/ti_mmwave/chirpEndIdx", std::stoi(token)); break;
case 3:
nh.setParam("/ti_mmwave/numLoops", std::stoi(token)); break;
case 4:
nh.setParam("/ti_mmwave/numFrames", std::stoi(token)); break;
case 5:
nh.setParam("/ti_mmwave/framePeriodicity", std::stof(token)); break;
}
}
} else req = token;
i++;
}
}
void ParameterParser::CalParams(ros::NodeHandle &nh) {
float c0 = 299792458;
int chirpStartIdx;
int chirpEndIdx;
int numLoops;
float framePeriodicity;
float startFreq;
float idleTime;
float adcStartTime;
float rampEndTime;
float digOutSampleRate;
float freqSlopeConst;
float numAdcSamples;
nh.getParam("/ti_mmwave/startFreq", startFreq);
nh.getParam("/ti_mmwave/idleTime", idleTime);
nh.getParam("/ti_mmwave/adcStartTime", adcStartTime);
nh.getParam("/ti_mmwave/rampEndTime", rampEndTime);
nh.getParam("/ti_mmwave/digOutSampleRate", digOutSampleRate);
nh.getParam("/ti_mmwave/freqSlopeConst", freqSlopeConst);
nh.getParam("/ti_mmwave/numAdcSamples", numAdcSamples);
nh.getParam("/ti_mmwave/chirpStartIdx", chirpStartIdx);
nh.getParam("/ti_mmwave/chirpEndIdx", chirpEndIdx);
nh.getParam("/ti_mmwave/numLoops", numLoops);
nh.getParam("/ti_mmwave/framePeriodicity", framePeriodicity);
int ntx = chirpEndIdx - chirpStartIdx + 1;
int nd = numLoops;
int nr = numAdcSamples;
float tfr = framePeriodicity * 1e-3;
float fs = digOutSampleRate * 1e3;
float kf = freqSlopeConst * 1e12;
float adc_duration = nr / fs;
float BW = adc_duration * kf;
float PRI = (idleTime + rampEndTime) * 1e-6;
float fc = startFreq * 1e9 + kf * (adcStartTime * 1e-6 + adc_duration / 2);
float vrange = c0 / (2 * BW);
float max_range = nr * vrange;
float max_vel = c0 / (2 * fc * PRI) / ntx;
float vvel = max_vel / nd;
nh.setParam("/ti_mmwave/num_TX", ntx);
nh.setParam("/ti_mmwave/f_s", fs);
nh.setParam("/ti_mmwave/f_c", fc);
nh.setParam("/ti_mmwave/BW", BW);
nh.setParam("/ti_mmwave/PRI", PRI);
nh.setParam("/ti_mmwave/t_fr", tfr);
nh.setParam("/ti_mmwave/max_range", max_range);
nh.setParam("/ti_mmwave/range_resolution", vrange);
nh.setParam("/ti_mmwave/max_doppler_vel", max_vel);
nh.setParam("/ti_mmwave/doppler_vel_resolution", vvel);
}
}

113
autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveCommSrv.cpp Executable file
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/*
* @file mmWaveCommSrv.cpp
*
* @brief
* Communication service responsible for sending CLI commands to sensor.
*
* \par
* NOTE:
* (C) Copyright 2020 Texas Instruments, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "mmWaveCommSrv.hpp"
namespace ti_mmwave_rospkg
{
PLUGINLIB_EXPORT_CLASS(ti_mmwave_rospkg::mmWaveCommSrv, nodelet::Nodelet);
mmWaveCommSrv::mmWaveCommSrv() {}
void mmWaveCommSrv::onInit()
{
ros::NodeHandle private_nh = getPrivateNodeHandle();
ros::NodeHandle private_nh2("~"); // follow namespace for multiple sensors
private_nh2.getParam("command_port", mySerialPort);
private_nh2.getParam("command_rate", myBaudRate);
ROS_INFO("mmWaveCommSrv: command_port = %s", mySerialPort.c_str());
ROS_INFO("mmWaveCommSrv: command_rate = %d", myBaudRate);
commSrv = private_nh.advertiseService("/mmWaveCLI", &mmWaveCommSrv::commSrv_cb, this);
NODELET_DEBUG("mmWaveCommsrv: Finished onInit function");
}
bool mmWaveCommSrv::commSrv_cb(mmWaveCLI::Request &req , mmWaveCLI::Response &res) {
NODELET_DEBUG("mmWaveCommSrv: Port is \"%s\" and baud rate is %d", mySerialPort.c_str(), myBaudRate);
/*Open Serial port and error check*/
serial::Serial mySerialObject("", myBaudRate, serial::Timeout::simpleTimeout(1000));
mySerialObject.setPort(mySerialPort.c_str());
try {
mySerialObject.open();
} catch (std::exception &e1) {
ROS_INFO("mmWaveCommSrv: Failed to open User serial port with error: %s", e1.what());
ROS_INFO("mmWaveCommSrv: Waiting 20 seconds before trying again...");
try {
// Wait 20 seconds and try to open serial port again
ros::Duration(20).sleep();
mySerialObject.open();
} catch (std::exception &e2) {
ROS_ERROR("mmWaveCommSrv: Failed second time to open User serial port, error: %s", e1.what());
NODELET_ERROR("mmWaveCommSrv: Port could not be opened. Port is \"%s\" and baud rate is %d", mySerialPort.c_str(), myBaudRate);
return false;
}
}
/*Read any previous pending response(s)*/
while (mySerialObject.available() > 0)
{
mySerialObject.readline(res.resp, 1024, ":/>");
ROS_INFO("mmWaveCommSrv: Received (previous) response from sensor: '%s'", res.resp.c_str());
res.resp = "";
}
/*Send out command received from the client*/
ROS_INFO("mmWaveCommSrv: Sending command to sensor: '%s'", req.comm.c_str());
req.comm.append("\n");
int bytesSent = mySerialObject.write(req.comm.c_str());
/*Read output from mmwDemo*/
mySerialObject.readline(res.resp, 1024, ":/>");
ROS_INFO("mmWaveCommSrv: Received response from sensor: '%s'", res.resp.c_str());
mySerialObject.close();
return true;
}
}

89
autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveDataHdl.cpp Executable file
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/*
* @file mmWaveDataHdl.cpp
*
* @brief
* Creates the data handler node and sets parameters.
*
* \par
* NOTE:
* (C) Copyright 2020 Texas Instruments, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "mmWaveDataHdl.hpp"
#include "DataHandlerClass.h"
namespace ti_mmwave_rospkg
{
PLUGINLIB_EXPORT_CLASS(ti_mmwave_rospkg::mmWaveDataHdl, nodelet::Nodelet);
mmWaveDataHdl::mmWaveDataHdl() {}
void mmWaveDataHdl::onInit()
{
ros::NodeHandle private_nh("~");
std::string mySerialPort;
std::string myFrameID;
int myBaudRate;
int myMaxAllowedElevationAngleDeg;
int myMaxAllowedAzimuthAngleDeg;
private_nh.getParam("data_port", mySerialPort);
private_nh.getParam("data_rate", myBaudRate);
private_nh.getParam("frame_id", myFrameID);
if (!(private_nh.getParam("max_allowed_elevation_angle_deg", myMaxAllowedElevationAngleDeg))) {
myMaxAllowedElevationAngleDeg = 90; // Use max angle if none specified
}
if (!(private_nh.getParam("max_allowed_azimuth_angle_deg", myMaxAllowedAzimuthAngleDeg))) {
myMaxAllowedAzimuthAngleDeg = 90; // Use max angle if none specified
}
ROS_INFO("mmWaveDataHdl: data_port = %s", mySerialPort.c_str());
ROS_INFO("mmWaveDataHdl: data_rate = %d", myBaudRate);
ROS_INFO("mmWaveDataHdl: max_allowed_elevation_angle_deg = %d", myMaxAllowedElevationAngleDeg);
ROS_INFO("mmWaveDataHdl: max_allowed_azimuth_angle_deg = %d", myMaxAllowedAzimuthAngleDeg);
DataUARTHandler DataHandler(&private_nh);
DataHandler.setFrameID( (char*) myFrameID.c_str() );
DataHandler.setUARTPort( (char*) mySerialPort.c_str() );
DataHandler.setBaudRate( myBaudRate );
DataHandler.setMaxAllowedElevationAngleDeg( myMaxAllowedElevationAngleDeg );
DataHandler.setMaxAllowedAzimuthAngleDeg( myMaxAllowedAzimuthAngleDeg );
DataHandler.start();
NODELET_DEBUG("mmWaveDataHdl: Finished onInit function");
}
}

60
autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveLoader.cpp Executable file
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/*
* @file mmWaveLoader.cpp
*
* @brief
* Creates the mmWave Manager node.
*
* \par
* NOTE:
* (C) Copyright 2019 Texas Instruments, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "ros/ros.h"
#include "nodelet/loader.h"
int main(int argc, char **argv)
{
ros::init(argc, argv, "mmWave_Manager");
nodelet::Loader manager(true);
nodelet::M_string remap(ros::names::getRemappings());
nodelet::V_string nargv;
manager.load("mmWaveCommSrv", "ti_mmwave_rospkg/mmWaveCommSrv", remap, nargv);
manager.load("mmWaveDataHdl", "ti_mmwave_rospkg/mmWaveDataHdl", remap, nargv);
ros::spin();
return 0;
}

99
autonomous_robotics_ros/src/ti_mmwave_rospkg/src/mmWaveQuickConfig.cpp Executable file
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/*
* @file mmWaveQuickConfig.cpp
*
* @brief
* Reads the cfg file and calls service to send commands.
*
* \par
* NOTE:
* (C) Copyright 2020 Texas Instruments, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include "ros/ros.h"
#include "ti_mmwave_rospkg/mmWaveCLI.h"
#include <cstdlib>
#include <fstream>
#include <stdio.h>
#include <regex>
#include "ParameterParser.h"
int main(int argc, char **argv) {
ros::init(argc, argv, "mmWaveQuickConfig");
ros::NodeHandle nh;
ti_mmwave_rospkg::mmWaveCLI srv;
if (argc != 2) {
ROS_INFO("mmWaveQuickConfig: usage: mmWaveQuickConfig /file_directory/params.cfg");
return 1;
} else
ROS_INFO("mmWaveQuickConfig: Configuring mmWave device using config file: %s", argv[1]);
ros::ServiceClient client = nh.serviceClient<ti_mmwave_rospkg::mmWaveCLI>("/mmWaveCLI");
std::ifstream myParams;
ti_mmwave_rospkg::ParameterParser parser;
//wait for service to become available
ros::service::waitForService("/mmWaveCLI", 10000);
//wait 0.5 secs to avoid multi-sensor conflicts
ros::Duration(0.5).sleep();
myParams.open(argv[1]);
if (myParams.is_open()) {
while( std::getline(myParams, srv.request.comm)) {
// Remove Windows carriage-return if present
srv.request.comm.erase(std::remove(srv.request.comm.begin(), srv.request.comm.end(), '\r'), srv.request.comm.end());
// Ignore comment lines (first non-space char is '%') or blank lines
if (!(std::regex_match(srv.request.comm, std::regex("^\\s*%.*")) || std::regex_match(srv.request.comm, std::regex("^\\s*")))) {
// ROS_INFO("mmWaveQuickConfig: Sending command: '%s'", srv.request.comm.c_str() );
if (client.call(srv)) {
if (std::regex_search(srv.response.resp, std::regex("Done"))) {
// ROS_INFO("mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')");
parser.ParamsParser(srv, nh);
} else {
ROS_ERROR("mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')");
ROS_ERROR("mmWaveQuickConfig: Response: '%s'", srv.response.resp.c_str() );
return 1;
}
} else {
ROS_ERROR("mmWaveQuickConfig: Failed to call service mmWaveCLI");
ROS_ERROR("%s", srv.request.comm.c_str() );
return 1;
}
}
}
parser.CalParams(nh);
myParams.close();
} else {
ROS_ERROR("mmWaveQuickConfig: Failed to open File %s", argv[1]);
return 1;
}
ROS_INFO("mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: %s", argv[1]);
return 0;
}

6
autonomous_robotics_ros/ti_mmwave_rospkg/srv/mmWaveCLI.srv → autonomous_robotics_ros/src/ti_mmwave_rospkg/srv/mmWaveCLI.srv Normal file → Executable file
View File

@@ -1,3 +1,3 @@
string comm
---
string resp
string comm
---
string resp

211
autonomous_robotics_ros/src/ti_safety_bubble/CMakeLists.txt Normal file
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@@ -0,0 +1,211 @@
cmake_minimum_required(VERSION 3.0.2)
project(ti_safety_bubble)
## Compile as C++11, supported in ROS Kinetic and newer
# add_compile_options(-std=c++11)
## Find catkin macros and libraries
## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
## is used, also find other catkin packages
find_package(catkin REQUIRED COMPONENTS
roscpp
rospy
std_msgs
message_generation
geometry_msgs
)
## System dependencies are found with CMake's conventions
# find_package(Boost REQUIRED COMPONENTS system)
## Uncomment this if the package has a setup.py. This macro ensures
## modules and global scripts declared therein get installed
## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
# catkin_python_setup()
################################################
## Declare ROS messages, services and actions ##
################################################
## To declare and build messages, services or actions from within this
## package, follow these steps:
## * Let MSG_DEP_SET be the set of packages whose message types you use in
## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
## * In the file package.xml:
## * add a build_depend tag for "message_generation"
## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
## * If MSG_DEP_SET isn't empty the following dependency has been pulled in
## but can be declared for certainty nonetheless:
## * add a exec_depend tag for "message_runtime"
## * In this file (CMakeLists.txt):
## * add "message_generation" and every package in MSG_DEP_SET to
## find_package(catkin REQUIRED COMPONENTS ...)
## * add "message_runtime" and every package in MSG_DEP_SET to
## catkin_package(CATKIN_DEPENDS ...)
## * uncomment the add_*_files sections below as needed
## and list every .msg/.srv/.action file to be processed
## * uncomment the generate_messages entry below
## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
## Generate messages in the 'msg' folder
add_message_files(
FILES
Num.msg
)
## Generate services in the 'srv' folder
add_service_files(
FILES
AddTwoInts.srv
)
## Generate actions in the 'action' folder
# add_action_files(
# FILES
# Action1.action
# Action2.action
# )
## Generate added messages and services with any dependencies listed here
generate_messages(
DEPENDENCIES
std_msgs
)
################################################
## Declare ROS dynamic reconfigure parameters ##
################################################
## To declare and build dynamic reconfigure parameters within this
## package, follow these steps:
## * In the file package.xml:
## * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
## * In this file (CMakeLists.txt):
## * add "dynamic_reconfigure" to
## find_package(catkin REQUIRED COMPONENTS ...)
## * uncomment the "generate_dynamic_reconfigure_options" section below
## and list every .cfg file to be processed
## Generate dynamic reconfigure parameters in the 'cfg' folder
# generate_dynamic_reconfigure_options(
# cfg/DynReconf1.cfg
# cfg/DynReconf2.cfg
# )
###################################
## catkin specific configuration ##
###################################
## The catkin_package macro generates cmake config files for your package
## Declare things to be passed to dependent projects
## INCLUDE_DIRS: uncomment this if your package contains header files
## LIBRARIES: libraries you create in this project that dependent projects also need
## CATKIN_DEPENDS: catkin_packages dependent projects also need
## DEPENDS: system dependencies of this project that dependent projects also need
catkin_package(
# INCLUDE_DIRS include
# LIBRARIES beginner_tutorials
# CATKIN_DEPENDS roscpp rospy std_msgs
# DEPENDS system_lib
CATKIN_DEPENDS message_runtime
)
###########
## Build ##
###########
## Specify additional locations of header files
## Your package locations should be listed before other locations
include_directories(
# include
${catkin_INCLUDE_DIRS}
)
## Declare a C++ library
# add_library(${PROJECT_NAME}
# src/${PROJECT_NAME}/beginner_tutorials.cpp
# )
## Add cmake target dependencies of the library
## as an example, code may need to be generated before libraries
## either from message generation or dynamic reconfigure
# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Declare a C++ executable
## With catkin_make all packages are built within a single CMake context
## The recommended prefix ensures that target names across packages don't collide
# add_executable(${PROJECT_NAME}_node src/beginner_tutorials_node.cpp)
## Rename C++ executable without prefix
## The above recommended prefix causes long target names, the following renames the
## target back to the shorter version for ease of user use
## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
## Add cmake target dependencies of the executable
## same as for the library above
# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
# ${catkin_LIBRARIES}
# )
#############
## Install ##
#############
# all install targets should use catkin DESTINATION variables
# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
## Mark executable scripts (Python etc.) for installation
## in contrast to setup.py, you can choose the destination
# catkin_install_python(PROGRAMS
# scripts/my_python_script
# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark executables for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
# install(TARGETS ${PROJECT_NAME}_node
# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
# )
## Mark libraries for installation
## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
# install(TARGETS ${PROJECT_NAME}
# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
# )
## Mark cpp header files for installation
# install(DIRECTORY include/${PROJECT_NAME}/
# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
# FILES_MATCHING PATTERN "*.h"
# PATTERN ".svn" EXCLUDE
# )
## Mark other files for installation (e.g. launch and bag files, etc.)
# install(FILES
# # myfile1
# # myfile2
# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
# )
#############
## Testing ##
#############
## Add gtest based cpp test target and link libraries
# catkin_add_gtest(${PROJECT_NAME}-test test/test_beginner_tutorials.cpp)
# if(TARGET ${PROJECT_NAME}-test)
# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
# endif()
## Add folders to be run by python nosetests
# catkin_add_nosetests(test)
add_executable(odomListener src/odomListener.cpp)
target_link_libraries(odomListener ${catkin_LIBRARIES})
add_dependencies(odomListener ti_safety_bubble_generate_messages_cpp)

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autonomous_robotics_ros/src/ti_safety_bubble/launch/controller.launch Normal file
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<launch>
<node pkg="tf" type="static_transform_publisher" name="slow_tf" args="0 0 0 0 0 0 base_link slowzone 100"/>
<node pkg="tf" type="static_transform_publisher" name="stop_tf" args="0 0 0 0 0 0 base_link stopzone 100"/>
<node name="odomListener" pkg="ti_safety_bubble" type="odomListener" output="screen" >
<param name="slow_radius" value="2.0" />
<param name="stop_radius" value="1.0" />
<param name="clear_costmap_period_secs" value="5" />
</node>
</launch>

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int64 num

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<?xml version="1.0"?>
<package format="2">
<name>ti_safety_bubble</name>
<version>0.0.0</version>
<description>The beginner_tutorials package</description>
<!-- One maintainer tag required, multiple allowed, one person per tag -->
<!-- Example: -->
<!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
<maintainer email="sabeeh@todo.todo">sabeeh</maintainer>
<!-- One license tag required, multiple allowed, one license per tag -->
<!-- Commonly used license strings: -->
<!-- BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
<license>TODO</license>
<!-- Url tags are optional, but multiple are allowed, one per tag -->
<!-- Optional attribute type can be: website, bugtracker, or repository -->
<!-- Example: -->
<!-- <url type="website">http://wiki.ros.org/beginner_tutorials</url> -->
<!-- Author tags are optional, multiple are allowed, one per tag -->
<!-- Authors do not have to be maintainers, but could be -->
<!-- Example: -->
<!-- <author email="jane.doe@example.com">Jane Doe</author> -->
<!-- The *depend tags are used to specify dependencies -->
<!-- Dependencies can be catkin packages or system dependencies -->
<!-- Examples: -->
<!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
<!-- <depend>roscpp</depend> -->
<!-- Note that this is equivalent to the following: -->
<!-- <build_depend>roscpp</build_depend> -->
<!-- <exec_depend>roscpp</exec_depend> -->
<!-- Use build_depend for packages you need at compile time: -->
<!-- <build_depend>message_generation</build_depend> -->
<!-- Use build_export_depend for packages you need in order to build against this package: -->
<!-- <build_export_depend>message_generation</build_export_depend> -->
<!-- Use buildtool_depend for build tool packages: -->
<!-- <buildtool_depend>catkin</buildtool_depend> -->
<!-- Use exec_depend for packages you need at runtime: -->
<!-- <exec_depend>message_runtime</exec_depend> -->
<!-- Use test_depend for packages you need only for testing: -->
<!-- <test_depend>gtest</test_depend> -->
<!-- Use doc_depend for packages you need only for building documentation: -->
<!-- <doc_depend>doxygen</doc_depend> -->
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<build_depend>rospy</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<build_export_depend>rospy</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>rospy</exec_depend>
<exec_depend>std_msgs</exec_depend>
<build_depend>message_generation</build_depend>
<exec_depend>message_runtime</exec_depend>
<build_depend>nav_msgs</build_depend>
<exec_depend>nav_msgs</exec_depend>
<build_depend>geometry_msgs</build_depend>
<exec_depend>geometry_msgs</exec_depend>
<!-- The export tag contains other, unspecified, tags -->
<export>
<!-- Other tools can request additional information be placed here -->
</export>
</package>

211
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/*
* @file odomListener.cpp
*
* @brief
* Subscribes to the global obstacle layers's costmap and footprint nodes,
* publishes velocities based on the .
*
* \par
* NOTE:
* (C) Copyright 2020 Texas Instruments, Inc.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
*
* Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the
* distribution.
*
* Neither the name of Texas Instruments Incorporated nor the names of
* its contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
*/
#include <math.h>
#include "ros/ros.h"
#include "std_msgs/String.h"
#include "std_srvs/Empty.h"
#include "nav_msgs/OccupancyGrid.h"
#include "geometry_msgs/PolygonStamped.h"
#include "geometry_msgs/Point32.h"
#include "geometry_msgs/Twist.h"
double robotX, robotY;
nav_msgs::OccupancyGrid gMsg;
/**
* This callback receives the robot's polygon and calculates the center.
* The center point will be used to calculate distances to objects.
*/
void footprintCallback(const geometry_msgs::PolygonStamped::ConstPtr& msg)
{
//ROS_INFO("I heard: [%s]", msg->data.c_str());
//ROS_INFO("[%3.3f], [%3.3f]", msg->pose.pose.position.x,msg->pose.pose.position.y);
//geometry_msgs::Point32 p
double x, y;
int s = (int) msg->polygon.points.size();
if (s == 0)
return;
x = 0.0;
y = 0.0;
for (int i = 0; i < s; i++)
{
x += msg->polygon.points[i].x;
y += msg->polygon.points[i].y;
}
robotX = x / (double) s;
robotY = y / (double) s;
}
/**
* This callback saves the global costmap to the gMsg variable.
*/
void mapCallback(const nav_msgs::OccupancyGrid::ConstPtr& msg)
{
gMsg = *msg;
}
/**
* Calculates the distance between p1 and p2.
*/
double calculateDistance(double p1x, double p1y, double p2x, double p2y)
{
return sqrt(pow(p1x - p2x, 2) + pow(p1y - p2y, 2));
}
int main(int argc, char **argv)
{
ros::init(argc, argv, "odomListener");
ros::NodeHandle n;
ros::NodeHandle n2("~");
ros::Subscriber footprintSub = n.subscribe("/move_base/global_costmap/footprint", 10, footprintCallback);
ros::Subscriber mapSub = n.subscribe("/move_base/global_costmap/costmap", 10, mapCallback);
ros::ServiceClient client = n.serviceClient<std_srvs::Empty>("/move_base/clear_costmaps");
std_srvs::Empty srv;
ros::Publisher vel_pub = n.advertise<geometry_msgs::Twist>("mobile_base/commands/velocity", 1);
ros::Publisher slowzone_pub = n.advertise<geometry_msgs::PolygonStamped>("/ti_base/slowzone", 1);
ros::Publisher stopzone_pub = n.advertise<geometry_msgs::PolygonStamped>("/ti_base/stopzone", 1);
double outerLimit = 1.5; //radius in meters
double innerLimit = 1.0; //radius in meters
double mapsClearTime = 7.5; //seconds
n2.getParam("slow_radius", outerLimit);
n2.getParam("stop_radius", innerLimit);
n2.getParam("clear_costmap_period_secs", mapsClearTime);
double rate = 20;
ros::Rate loop_rate(rate);
int counter = 0;
bool stopFlag = false;
bool slowFlag = false;
while (ros::ok())
{
if (gMsg.info.width != 0) {
double tempRobotX = robotX;
double tempRobotY = robotY;
stopFlag = false;
slowFlag = false;
// create polygons for zones
geometry_msgs::PolygonStamped slowzone;
geometry_msgs::PolygonStamped stopzone;
slowzone.header.frame_id = "slowzone";
stopzone.header.frame_id = "stopzone";
int numPoints = 12; // number of points for polygon
for (int i = 0; i < numPoints; ++i) {
double angle = i * ( 360.0 / (double) numPoints) * M_PI / 180.0;
geometry_msgs::Point32 slow_point, stop_point;
slow_point.z = 0.0;
stop_point.z = 0.0;
slow_point.x = cos(angle) * outerLimit;
slow_point.y = sin(angle) * outerLimit;
stop_point.x = cos(angle) * innerLimit;
stop_point.y = sin(angle) * innerLimit;
slowzone.polygon.points.push_back(slow_point);
stopzone.polygon.points.push_back(stop_point);
}
slowzone_pub.publish(slowzone);
stopzone_pub.publish(stopzone);
// calculate distance to objects
for (int i = 0; i < gMsg.info.height; i++)
{
for (int j = 0; j < gMsg.info.width; j++)
{
int ind = (i * gMsg.info.width) + j;
// grid spaces with probability of 80 or higher will have distance calculated
if (gMsg.data[ind] >= 80)
{
double px = (i * gMsg.info.resolution) + gMsg.info.origin.position.x;
double py = (j * gMsg.info.resolution) + gMsg.info.origin.position.y;
double dist = calculateDistance(tempRobotX, tempRobotY, py, px);
if (outerLimit > dist && dist > innerLimit)
{
slowFlag = true;
} else if (innerLimit >= dist)
{
stopFlag = true;
}
}
}
}
// publish velocity command
geometry_msgs::Twist vel;
// hard-coded angular velocity to offset turtlebot2 from straying to the left
vel.angular.z = -0.0075;
if (stopFlag) {
ROS_INFO("STOP");
vel.linear.x = 0.0;
vel.angular.z = 0.0;
} else if (slowFlag) {
ROS_INFO("SLOW");
vel.linear.x = 0.1;
} else {
ROS_INFO("FULL");
vel.linear.x = 0.2;
}
vel_pub.publish(vel);
}
// calls move_base service to clear costmaps
counter += 1;
if (counter > (int) (rate * mapsClearTime)) {
if (client.call(srv))
{
ROS_INFO("maps cleared");
} else {
ROS_INFO("can't call service");
}
counter = 0;
}
ros::spinOnce();
loop_rate.sleep();
}
return 0;
}

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int64 a
int64 b
---
int64 sum

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turtlebot
=========
The turtlebot stack provides all the basic drivers for running and using a [TurtleBot](http://turtlebot.com) with [ROS](http://www.ros.org) and th TI mmWave EVMs.
ROS Wiki : (http://www.ros.org/wiki/Robots/TurtleBot)
![TurtleBot Logo](http://www.turtlebot.com/assets/images/turtlebot_logo.png)
turtlebot
=========
The turtlebot stack provides all the basic drivers for running and using a [TurtleBot](http://turtlebot.com) with [ROS](http://www.ros.org) and th TI mmWave EVMs.
ROS Wiki : (http://www.ros.org/wiki/Robots/TurtleBot)
![TurtleBot Logo](http://www.turtlebot.com/assets/images/turtlebot_logo.png)

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<!--
Collection of robot-centric definitions and nodes for the turtlebot.
-->
<launch>
<arg name="base"/>
<arg name="stacks"/>
<arg name="3d_sensor"/>
<arg name="mmwave_device"/>
<include file="$(find turtlebot_bringup)/launch/includes/description.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="stacks" value="$(arg stacks)" />
<arg name="3d_sensor" value="$(arg 3d_sensor)" />
</include>
<!-- important generally, but specifically utilised by the current app manager -->
<param name="robot/name" value="$(optenv ROBOT turtlebot)"/>
<param name="robot/type" value="turtlebot"/>
<node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher">
<param name="publish_frequency" type="double" value="5.0" />
</node>
<node pkg="diagnostic_aggregator" type="aggregator_node" name="diagnostic_aggregator" >
<rosparam command="load" file="$(find turtlebot_bringup)/param/$(arg base)/diagnostics.yaml" />
</node>
<!-- Call mmWave sensor launch file -->
<include file="$(find ti_mmwave_rospkg)/launch/bubble_sensor_north.launch">
<arg name="device" value="$(arg mmwave_device)" doc="TI mmWave sensor device type [1443, 1642, 1843, 6843ISK, 6843AOP]"/>
<arg name="config" value="3d" doc="TI mmWave sensor device configuration [3d (not supported by 1642 EVM), 2d]"/>
<arg name="max_allowed_elevation_angle_deg" value="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
<arg name="max_allowed_azimuth_angle_deg" value="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
</include>
<include file="$(find ti_mmwave_rospkg)/launch/bubble_sensor_south.launch">
<arg name="device" value="$(arg mmwave_device)" doc="TI mmWave sensor device type [1443, 1642, 1843, 6843ISK, 6843AOP]"/>
<arg name="config" value="3d" doc="TI mmWave sensor device configuration [3d (not supported by 1642 EVM), 2d]"/>
<arg name="max_allowed_elevation_angle_deg" value="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
<arg name="max_allowed_azimuth_angle_deg" value="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
</include>
<include file="$(find ti_mmwave_rospkg)/launch/bubble_sensor_west.launch">
<arg name="device" value="$(arg mmwave_device)" doc="TI mmWave sensor device type [1443, 1642, 1843, 6843ISK, 6843AOP]"/>
<arg name="config" value="3d" doc="TI mmWave sensor device configuration [3d (not supported by 1642 EVM), 2d]"/>
<arg name="max_allowed_elevation_angle_deg" value="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
<arg name="max_allowed_azimuth_angle_deg" value="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
</include>
<include file="$(find ti_mmwave_rospkg)/launch/bubble_sensor_east.launch">
<arg name="device" value="$(arg mmwave_device)" doc="TI mmWave sensor device type [1443, 1642, 1843, 6843ISK, 6843AOP]"/>
<arg name="config" value="3d" doc="TI mmWave sensor device configuration [3d (not supported by 1642 EVM), 2d]"/>
<arg name="max_allowed_elevation_angle_deg" value="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
<arg name="max_allowed_azimuth_angle_deg" value="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>
</include>
<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="hector_trajectory_server" />
<node pkg="tf" type="static_transform_publisher" name="tf_base_link_to_base_footprint" args="0 0 0 0 0 0 base_footprint base_link 100"/>
<!-- -->
<!--
<node pkg="tf" type="static_transform_publisher" name="static_transorm_publisher_map" args="0 0 0 0 0 0 map odom 100"/>
-->
<!--
<node pkg="pointcloud_to_laserscan" type="pointcloud_to_laserscan_node" name="Radar_to_Laser">
<param name="min_range" value="0"/>
<param name="angle_min" value="-3.14"/>
<param name="angle_max" value="3.14"/>
</node>
<node pkg="nodelet" type="nodelet" name="passthru_manager" args="manager" />
Run a passthrough filter to clean NaNs
<node pkg="nodelet" type="nodelet" name="i_filter" args="load pcl/PassThrough passthru_manager" output="screen">
<remap from="~input" to="/mmWaveDataHdl/RScan" />
<remap from="~output" to="/cloud_in" />
<rosparam>
filter_field_name: intensity
filter_limit_min: 30
filter_limit_max: 100
filter_limit_negative: False
</rosparam>
</node>-->
</launch>

0
autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot.launch.xml → autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/robot_single_sensor.launch.xml Normal file → Executable file
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0
autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml → autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/includes/zeroconf.launch.xml Normal file → Executable file
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26
autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_quad_sensor.launch Executable file
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@@ -0,0 +1,26 @@
<launch>
<!-- Turtlebot -->
<arg name="base" default="kobuki" doc="mobile base type [create, roomba]"/>
<arg name="battery" default="$(env TURTLEBOT_BATTERY)" doc="kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels." />
<arg name="stacks" default="$(env TURTLEBOT_STACKS)" doc="stack type displayed in visualisation/simulation [circles, hexagons]"/>
<arg name="3d_sensor" default="radar" doc="3d sensor types [kinect, asux_xtion_pro, radar]"/>
<arg name="simulation" default="$(env TURTLEBOT_SIMULATION)" doc="set flags to indicate this turtle is run in simulation mode."/>
<arg name="serialport" default="$(env TURTLEBOT_SERIAL_PORT)" doc="used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]"/>
<arg name="mmwave_device" default="1443" doc="TI mmWave sensor device type [1443, 1642, 1843, 6843ISK, 6843AOP]"/>
<param name="/use_sim_time" value="$(arg simulation)"/>
<include file="$(find turtlebot_bringup)/launch/includes/robot_quad_sensor.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="stacks" value="$(arg stacks)" />
<arg name="3d_sensor" value="$(arg 3d_sensor)" />
<arg name="mmwave_device" value="$(arg mmwave_device)" />
</include>
<include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="serialport" value="$(arg serialport)" />
</include>
<include unless="$(eval arg('battery') == 'None')" file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml">
<arg name="battery" value="$(arg battery)" />
</include>
</launch>

26
autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/minimal_single_sensor.launch Executable file
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@@ -0,0 +1,26 @@
<launch>
<!-- Turtlebot -->
<arg name="base" default="kobuki" doc="mobile base type [create, roomba]"/>
<arg name="battery" default="$(env TURTLEBOT_BATTERY)" doc="kernel provided locatio for battery info, use /proc/acpi/battery/BAT0 in 2.6 or earlier kernels." />
<arg name="stacks" default="$(env TURTLEBOT_STACKS)" doc="stack type displayed in visualisation/simulation [circles, hexagons]"/>
<arg name="3d_sensor" default="radar" doc="3d sensor types [kinect, asux_xtion_pro, radar]"/>
<arg name="simulation" default="$(env TURTLEBOT_SIMULATION)" doc="set flags to indicate this turtle is run in simulation mode."/>
<arg name="serialport" default="$(env TURTLEBOT_SERIAL_PORT)" doc="used by create to configure the port it is connected on [/dev/ttyUSB0, /dev/ttyS0]"/>
<arg name="mmwave_device" default="1443" doc="TI mmWave sensor device type [1443, 1642, 1843, 6843ISK, 6843AOP]"/>
<param name="/use_sim_time" value="$(arg simulation)"/>
<include file="$(find turtlebot_bringup)/launch/includes/robot_single_sensor.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="stacks" value="$(arg stacks)" />
<arg name="3d_sensor" value="$(arg 3d_sensor)" />
<arg name="mmwave_device" value="$(arg mmwave_device)" />
</include>
<include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="serialport" value="$(arg serialport)" />
</include>
<include unless="$(eval arg('battery') == 'None')" file="$(find turtlebot_bringup)/launch/includes/netbook.launch.xml">
<arg name="battery" value="$(arg battery)" />
</include>
</launch>

2
autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/launch/minimal.launch → autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/launch/robot.launch Normal file → Executable file
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@@ -10,12 +10,14 @@
<param name="/use_sim_time" value="$(arg simulation)"/>
<!--
<include file="$(find turtlebot_bringup)/launch/includes/robot.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="stacks" value="$(arg stacks)" />
<arg name="3d_sensor" value="$(arg 3d_sensor)" />
<arg name="mmwave_device" value="$(arg mmwave_device)" />
</include>
-->
<include file="$(find turtlebot_bringup)/launch/includes/mobile_base.launch.xml">
<arg name="base" value="$(arg base)" />
<arg name="serialport" value="$(arg serialport)" />

0
autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/package.xml → autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/package.xml Normal file → Executable file
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0
autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/3dsensor.yaml → autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/3dsensor.yaml Normal file → Executable file
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0
autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/capabilities/defaults_tb2.yaml → autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/capabilities/defaults_tb2.yaml Normal file → Executable file
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0
autonomous_robotics_ros/turtlebot/turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml → autonomous_robotics_ros/src/turtlebot/turtlebot/turtlebot_bringup/param/defaults/capability_providers.yaml Normal file → Executable file
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