AWR1843AOP data issue

[zhang14h]

Hi

I am currently using the AWR1843AOP with the driver. Unfortunately, I am not able to "rostopic echo /ti_mmwave/radar_scan". I am not sure whether there is some problem with my ROS setting or your driver has a small problem.

Regardless of that, I am able to echo the topic /ti_mmwave/radar_scan_pcl_0 with launching the driver 1843_multi_3d_0.launch
Here is one sample of the data I am getting. I know that there are 6 objects detected from the header. However, I am not capable of understanding what the numbers mean in data array. I know it is better to reshape the data into a 6*32 matrix. Could you please give me some hint with that?

header:
seq: 6701
stamp:
secs: 0
nsecs: 0
frame_id: "/ti_mmwave_0"
height: 1
width: 6
fields:

name: "x"
offset: 0
datatype: 7
count: 1

• name: "y"
  offset: 4
  datatype: 7
  count: 1
• name: "z"
  offset: 8
  datatype: 7
  count: 1
• name: "intensity"
  offset: 16
  datatype: 7
  count: 1
• name: "velocity"
  offset: 20
  datatype: 7
  count: 1
  is_bigendian: False
  point_step: 32
  row_step: 192
  data: [180, 122, 18, 60, 127, 10, 73, 188, 191, 136, 39, 61, 0, 0, 0, 0, 102, 102, 12, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1, 130, 75, 60, 255, 96, 95, 60, 31, 243, 33, 61, 0, 0, 0, 0, 102, 102, 12, 66, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 90, 232, 148, 63, 63, 50, 17, 63, 255, 6, 6, 63, 0, 0, 0, 0, 0, 0, 148, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 208, 190, 159, 63, 67, 6, 43, 63, 167, 151, 18, 63, 0, 0, 0, 0, 205, 204, 216, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 4, 100, 204, 63, 247, 184, 43, 63, 159, 246, 228, 62, 0, 0, 0, 0, 0, 0, 164, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 251, 14, 34, 64, 1, 158, 63, 63, 143, 83, 170, 62, 0, 0, 0, 0, 102, 102, 110, 65, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0]
  is_dense: True

---

I really appreciated your help.

Best regards

[johnnyfox87]

I have not used the AWR1843AOP sensor so far, but the topic /ti_mmwave/radar_scan works with other sensors and don't know what the problem could be.
The other topic uses the PCL message format. Check out the documentation: http://wiki.ros.org/pcl_ros

[zhang14h]

Thank you, @johnnyfox87.

I will take a close look at the documentation.

[zhang14h]

I found the way to convert the transmitted data to point locations after reading the document. Thank you @johnnyfox87