Merge pull request radar-lab#4 from zrmaker/master

multi-sensor successful

.gitignore

@@ -1 +1,4 @@
-reference/
+.vscode/
+src/.vscode
+cfg/archive
+launch/archive

CMakeLists.txt

@@ -145,7 +145,7 @@ add_library(mmwave
   src/mmWaveCommSrv.cpp
   src/DataHandlerClass.cpp
   src/mmWaveQuickConfig.cpp
-  src/parameter_parser.cpp
+  src/ParameterParser.cpp
 )
 
 ## Add cmake target dependencies of the library

README.md

@@ -0,0 +1,120 @@
+# TI mmWave ROS Package (Customized)
+
+### Auhor and Maintainer: Leo Zhang
+### Organization: University of Arizona
+### Email: dr.leo.zhang@outlook.com
+---
+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. 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 EVM (not tested)
+TI mmWave AWR1642BOOST ES2.0 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 with [ROS Kinetic](http://wiki.ros.org/kinetic).
+
+![](./auxiliary/mounting.jpg =250x)
+
+2. Download SDK 2.0 or above 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 ver. 1.2. AWR1642 ES2.0 (usually purchased after May 2018) uses SDK ver. 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. Launch AWR1642 short range:
+```
+roslaunch ti_mmwave_rospkg 1642es2_short_range.launch
+```
+
+6. ROS topics can be accessed as follows:
+```
+rostopic echo /ti_mmwave/radar_scan
+```
+7. ROS parameters can be accessed as follows:
+```
+rosparam list
+rosparam get /ti_mmwave/max_doppler_vel
+```
+---
+### 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 (front from antenna)
+y: 6.92578125             # Point y coordinates (left/right from antenna, right positive)
+z: 0.0                    # Point y coordinates (up/down from antenna, up positive)
+range: 11.067276001       # Radar measured range
+velocity: 0.0             # Radar measured range rate
+doppler_bin: 8            # Doppler bin location of the point (total bins = num of chirps)
+bearing: 38.6818885803    # Radar measured angle (right positive)
+intensity: 13.6172780991  # Radar measured intensity (in dB)
+```
+---
+### Multiple devices support (dual AWR1642 ES2.0 EVM):
+1. Connect two devices and try `ll /dev/serial/by-id`. In this case, `/dev/ttyACM3` should shown.
+2. Launch first device:
+
+```
+roslaunch ti_mmwave_rospkg multi_1642_0.launch 
+```
+3. Launch second device:
+
+```
+roslaunch ti_mmwave_rospkg multi_1642_1.launch 
+```
+4. Change radars' location in first three arguments (stands for x,y,z for positions) in `args` in launch file `multi_tf_rviz.launch`:
+
+```
+ <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"/>
+```
+5. Show point clouds using rviz:
+
+```
+roslaunch ti_mmwave_rospkg multi_tf_rviz.launch
+```
+
+Note: As serial connection and the original code, you need to launch devices separately using different launch files.
+
+---
+### Changelog:
+
+```
+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.
+```

cfg/1642_mid_range.cfg → cfg/1642es1_short_range.cfg

@@ -4,15 +4,14 @@ dfeDataOutputMode 1
 channelCfg 15 3 0
 adcCfg 2 1
 adcbufCfg -1 0 0 1 0
-profileCfg 0 76 49 7 28.48 0 0 35.112 1 128 6249 0 0 30
+profileCfg 0 76 63 7 40 0 0 25 1 80 2499 0 0 30
 chirpCfg 0 0 0 0 0 0 0 1
 chirpCfg 1 1 0 0 0 0 0 2
-frameCfg 0 1 128 0 40 1 0
-lowPower 0 0
+frameCfg 0 1 64 0 33.333 1 0
 guiMonitor -1 1 0 0 0 0 0
-cfarCfg -1 0 0 8 4 4 0 5120
-cfarCfg -1 1 0 4 2 3 0 5120
-peakGrouping -1 1 0 0 1 127
+cfarCfg -1 0 0 8 4 4 0 3072
+cfarCfg -1 1 0 4 2 3 0 3072
+peakGrouping -1 1 0 1 1 255
 multiObjBeamForming -1 1 0.5
 clutterRemoval -1 0
 calibDcRangeSig -1 0 -5 8 256
@@ -22,7 +21,7 @@ lvdsStreamCfg -1 0 0 0
 nearFieldCfg -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 4 63 0
-CQSigImgMonitor 0 63 4
+CQRxSatMonitor 0 3 4 79 0
+CQSigImgMonitor 0 79 4
 analogMonitor 1 1
 sensorStart

cfg/1642es2_short_range.cfg

@@ -0,0 +1,43 @@
+% ==============================
+% List of parameters
+% ==============================
+% Number of range samples: 256
+% Number of chirps: 16
+% f_s: 5.209 MHz
+% f_c: 79.210 GHz
+% Bandwidth: 3440.200 MHz
+% PRI: 96.140 us
+% Frame time: 33.333 ms
+% Max range: 11.154 m
+% Range resolution: 0.044 m
+% Max Doppler: +-4.921 m/s
+% Doppler resolution: 0.615 m/s
+% ==============================
+sensorStop
+flushCfg
+dfeDataOutputMode 1
+channelCfg 15 3 0
+adcCfg 2 1
+adcbufCfg -1 0 0 1 0
+profileCfg 0 77 39 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 33.333 1 0
+lowPower 0 1
+guiMonitor -1 1 0 0 0 0 0
+cfarCfg -1 0 0 8 4 4 0 3072
+cfarCfg -1 1 0 4 2 3 0 3072
+peakGrouping -1 1 0 1 1 255
+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
+nearFieldCfg -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 5 123 0
+CQSigImgMonitor 0 127 4
+analogMonitor 1 1
+sensorStart