ti_mmwave/radar_scan rostopic outputs data for only one point at an instance ?

[rupikaraj]

I am using TI mmwave AWR1642 radar on ROS. The rostopic ti_mmwave/radar_scan_pcl gives output type sensor_msgs/PointCloud2 and the data contains x,y,z, and intensity values of all the points in that particular instant. But it doesn't contain velocity information.

I found that the rostopic ti_mmwave/radar_scan gives output type ti_mmwave_rospkg/Radarscan and when I tried to extract the data it contains only one value at an instant. Like (x,y,z,range,velocity,intensity,bearing), etc. But only one coordinate at an instance instead of all the points detected at that instant.

So, coming to my doubts...

How can I get velocity using these topics?
Why does the ti_mmwave/radar_scan topic only show on point at an instance?
Is there any way to obtain the velocity and coordinates for all points at every frame using the ti_mmwave/radar_scan topic?