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doppler vel added to RScan msg

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This commit is contained in:
Sabeeh Khan
2021-05-10 12:11:36 -05:00
parent 59d06c1431
commit eb79e91fc2
2 changed files with 36 additions and 4 deletions
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6
ros_driver/src/ti_mmwave_rospkg/CMakeLists.txt
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@@ -210,12 +210,12 @@ add_dependencies(mmwave ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TA
set (CMAKE_CXX_STANDARD 11)
add_executable(${PROJECT_NAME} src/mmWaveLoader.cpp)
target_link_libraries(mmwave ${serial_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} mmwave ${serial_LIBRARIES})
target_link_libraries(mmwave ${serial_LIBRARIES} ${PCL_LIBRARIES})
target_link_libraries(${PROJECT_NAME} ${catkin_LIBRARIES} mmwave ${serial_LIBRARIES} ${PCL_LIBRARIES})
add_dependencies(${PROJECT_NAME} ${catkin_EXPORTED_TARGETS} mmwave ${serial_EXPORTED_TARGETS})
add_executable(mmWaveQuickConfig src/mmWaveQuickConfig.cpp)
target_link_libraries(mmWaveQuickConfig ${catkin_LIBRARIES} mmwave)
target_link_libraries(mmWaveQuickConfig ${catkin_LIBRARIES} mmwave ${PCL_LIBRARIES})
add_dependencies(mmWaveQuickConfig ${catkin_EXPORTED_TARGETS} mmwave)
#############

34
ros_driver/src/ti_mmwave_rospkg/src/DataHandlerClass.cpp
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@@ -1,4 +1,33 @@
#include <DataHandlerClass.h>
#define PCL_NO_PRECOMPILE
//#include <pcl/memory.h>
#include <pcl/pcl_macros.h>
#include <pcl/point_types.h>
#include <pcl/point_cloud.h>
#include <pcl/io/pcd_io.h>
struct mmWaveCloudType
{
PCL_ADD_POINT4D;
union
{
struct
{
float intensity;
float velocity;
};
float data_c[4];
};
EIGEN_MAKE_ALIGNED_OPERATOR_NEW
} EIGN_ALIGN16;
POINT_CLOUD_REGISTER_POINT_STRUCT (MyPointType,
(float, x, x)
(float, y, y)
(float, z, z)
(float, intensity, intensity)
(float, velocity, velocity))
DataUARTHandler::DataUARTHandler(ros::NodeHandle* nh) : currentBufp(&pingPongBuffers[0]) , nextBufp(&pingPongBuffers[1]) {
DataUARTHandler_pub = nh->advertise<sensor_msgs::PointCloud2>("/ti_mmwave/radar_scan_pcl", 100);
@@ -240,7 +269,8 @@ void *DataUARTHandler::sortIncomingData( void )
float maxElevationAngleRatioSquared;
float maxAzimuthAngleRatio;
boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI>> RScan(new pcl::PointCloud<pcl::PointXYZI>);
//boost::shared_ptr<pcl::PointCloud<pcl::PointXYZI>> RScan(new pcl::PointCloud<pcl::PointXYZI>);
boost::shared_ptr<pcl::PointCloud<mmWaveCloudType>> RScan(new pcl::PointCloud<mmWaveCloudType>);
ti_mmwave_rospkg::RadarScan radarscan;
//wait for first packet to arrive
@@ -456,6 +486,8 @@ void *DataUARTHandler::sortIncomingData( void )
RScan->points[i].y = -mmwData.newObjOut.x; // ROS standard coordinate system Y-axis is left which is the mmWave sensor -(X-axis)
RScan->points[i].z = mmwData.newObjOut.z; // ROS standard coordinate system Z-axis is up which is the same as mmWave sensor Z-axis
RScan->points[i].velocity = mmwData.newObjOut.velocity;
radarscan.header.frame_id = frameID;
radarscan.header.stamp = ros::Time::now();