ROS driver for TI mmwave sensor boards

This repo contains the ROS driver for TI mmwave sensor boards based on the driver released by TI

These instructions are for the TI mmWave 1443 EVM board.

Installation

These instructions are tested on Ubuntu 16.04. Make sure you have ROS installed (recommended version ROS kinetic). On Ubuntu this can be installed from the package manager.

This driver also requires PCL ROS. If not installed, install on Ubuntu with:

sudo apt-get install ros-kinetic-pcl-ros ros-kinetic-pcl-msgs ros-kinetic-pcl-conversions ros-kinetic-perception-pcl

Create a catkin ws

mkdir catkin_ws
cd catkin_ws
mkdir src
cd src
catkin_init_workspace

Clone the required repositories

git clone https://github.com/wjwwood/serial.git
git clone https://github.com/ibcn-cloudlet/ti_mmwave_rospkg.git

Now build the projects

cd ..  // go to workspace dir, catkin_ws
catkin_make

Finally make sure to source the setup.bash file to setup the environment

source devel/setup.bash

Run

The driver communicates to the sensor board via serial ports. Therefore, your user must be member of the dialout unx group.

sudo adduser <username> dialout

To launch the driver, use the following command:

for 3-D configuration with elevation info:

roslaunch ti_mmwave_rospkg rviz_1443_3d.launch

for 2-D configuration:

roslaunch ti_mmwave_rospkg rviz_1443_2d.launch

Make sure you have the latest version of the TI mmWave EVM demo firmware installed on your board.