Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Where to check the Message? #32

Open
KamiCalcium opened this issue Mar 10, 2021 · 5 comments
Open

Where to check the Message? #32

KamiCalcium opened this issue Mar 10, 2021 · 5 comments

Comments

@KamiCalcium
Copy link

Hi,

I was able to run the rviz and see the point cloud and maybe save it to a .csv file. However, I want to check the data(x, y, z coordinate and doppler, etc.). Which command should I use to see the message the save it? I didn't find the message in the terminal or somewhere else.

Also, the second question is I only want the dynamic point cloud. But when I change the clutterremoval in .cfg file from 0 to 1, rviz doesn't show any point cloud then. What should be the correct way to do it?

Thanks a lot!

@KamiCalcium
Copy link
Author

KamiCalcium commented Mar 11, 2021

Hi, I figure out the first question myself. By using rostopic command.

But for the second question I still don't have a solution, for example, if I set the clutterremoval in 1443es1_mid_range_3d.cfg to 1 (which works perfectly in the mmWave Demo Visualizer), there is no point cloud.

Or if I change a .cfg file, for example this one from TI (which works perfectly in the mmWave Demo Visualizer):

% ***************************************************************
% SDK ver:01.02
% Platform:xWR14xx
% Frequency:77
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.62
% Maximum Radial Velocity(m/s):2.05
% Radial velocity resolution(m/s):0.26
% Frame Duration(msec):200
% Range Detection Threshold (dB):10
% Range Peak Grouping:disabled
% Doppler Peak Grouping:disabled
% Static clutter removal:enabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 118 7 40 0 0 100 1 240 7500 0 0 42
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 0 200 1 0
lowPower 0 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 1280
peakGrouping 1 0 0 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 4 99 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
sensorStart
% ***************************************************************

Again, there is no any pointcloud showing even I set the clutterremooval to 0. I wonder how RVIZ shows the pointcloud. Are there some rules to use the .cfg file?

Thanks a lot!

@future-zy
Copy link

Hi, I figure out the first question myself. By using rostopic command.

But for the second question I still don't have a solution, for example, if I set the clutterremoval in 1443es1_mid_range_3d.cfg to 1 (which works perfectly in the mmWave Demo Visualizer), there is no point cloud.

Or if I change a .cfg file, for example this one from TI (which works perfectly in the mmWave Demo Visualizer):

% ***************************************************************
% SDK ver:01.02
% Platform:xWR14xx
% Frequency:77
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.62
% Maximum Radial Velocity(m/s):2.05
% Radial velocity resolution(m/s):0.26
% Frame Duration(msec):200
% Range Detection Threshold (dB):10
% Range Peak Grouping:disabled
% Doppler Peak Grouping:disabled
% Static clutter removal:enabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 118 7 40 0 0 100 1 240 7500 0 0 42
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 0 200 1 0
lowPower 0 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 1280
peakGrouping 1 0 0 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 4 99 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
sensorStart
% ***************************************************************

Again, there is no any pointcloud showing even I set the clutterremooval to 0. I wonder how RVIZ shows the pointcloud. Are there some rules to use the .cfg file?

Thanks a lot!

YES! you can see mmwave_sdk_user_guide 3.4 to know .cfg how to config.

@senguptaa
Copy link
Member

Hi, I figure out the first question myself. By using rostopic command.

But for the second question I still don't have a solution, for example, if I set the clutterremoval in 1443es1_mid_range_3d.cfg to 1 (which works perfectly in the mmWave Demo Visualizer), there is no point cloud.

Or if I change a .cfg file, for example this one from TI (which works perfectly in the mmWave Demo Visualizer):

% ***************************************************************
% SDK ver:01.02
% Platform:xWR14xx
% Frequency:77
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.62
% Maximum Radial Velocity(m/s):2.05
% Radial velocity resolution(m/s):0.26
% Frame Duration(msec):200
% Range Detection Threshold (dB):10
% Range Peak Grouping:disabled
% Doppler Peak Grouping:disabled
% Static clutter removal:enabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 118 7 40 0 0 100 1 240 7500 0 0 42
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 0 200 1 0
lowPower 0 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 1280
peakGrouping 1 0 0 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 4 99 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
sensorStart
% ***************************************************************

Again, there is no any pointcloud showing even I set the clutterremooval to 0. I wonder how RVIZ shows the pointcloud. Are there some rules to use the .cfg file?

Thanks a lot!

Just to understand your issue better, is your concern that rostopic echo shows points but it doesn't show up visually on RViz?

@Cinthyactg
Copy link

Hi, I figure out the first question myself. By using rostopic command.

But for the second question I still don't have a solution, for example, if I set the clutterremoval in 1443es1_mid_range_3d.cfg to 1 (which works perfectly in the mmWave Demo Visualizer), there is no point cloud.

Or if I change a .cfg file, for example this one from TI (which works perfectly in the mmWave Demo Visualizer):

% *************************************************************** % SDK ver:01.02 % Platform:xWR14xx % Frequency:77 % Azimuth Resolution(deg):15 + Elevation % Range Resolution(m):0.047 % Maximum unambiguous Range(m):9.62 % Maximum Radial Velocity(m/s):2.05 % Radial velocity resolution(m/s):0.26 % Frame Duration(msec):200 % Range Detection Threshold (dB):10 % Range Peak Grouping:disabled % Doppler Peak Grouping:disabled % Static clutter removal:enabled % *************************************************************** sensorStop flushCfg dfeDataOutputMode 1 channelCfg 15 7 0 adcCfg 2 1 adcbufCfg 0 1 0 1 profileCfg 0 77 118 7 40 0 0 100 1 240 7500 0 0 42 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 0 200 1 0 lowPower 0 0 guiMonitor 1 0 0 0 0 0 cfarCfg 0 2 8 4 3 0 1280 peakGrouping 1 0 0 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 4 99 0 CQSigImgMonitor 0 119 4 analogMonitor 1 1 sensorStart % ***************************************************************

Again, there is no any pointcloud showing even I set the clutterremooval to 0. I wonder how RVIZ shows the pointcloud. Are there some rules to use the .cfg file?

Thanks a lot!

Sorry, Which command did you use to visualize the message and how you ave the data in a .cvs file?

@Cinthyactg
Copy link

rostopic echo /ti_mmwave/radar_scan

Sign up for free to join this conversation on GitHub. Already have an account? Sign in to comment
Labels
None yet
Projects
None yet
Development

No branches or pull requests

4 participants