awr1843aop

※ This package is customized for the Ti mmwave awr1843aop module based on radar-lab/ti_mmwave_rospkg

1. Connect the device(radar sensor) to the Computer or Onboard computer which is operated in Ubuntu.

2. Set ttyusb speed to desired speed (baudrate)

 $ stty speed 115200 < /dev/ttyUSB0    # user port (config port)
 $ stty speed 921600 < /dev/ttyUSB1    # data port

3. Git clone in your workspace/src/ because these are the packages.

$ git clone https://github.com/bwh1270/awr1843aop.git
$ git clone https://github.com/wjwwood/serial.git

4. Usage after building awr1843aop and serial packages

$ source devel/setup.bash  
$ roslaunch awr1843aop min_Vres.launch

# Check the message in another terminal
$ rostopic echo /awr1843aop/radarPoints

※ Customed message: radarPoints.msg

std_msgs/Header header
std_msgs/UInt16 total_points
std_msgs/UInt16MultiArray point_idx
geometry_msgs/Point[] points
std_msgs/Float32MultiArray velocity
std_msgs/FLoat32MultiArray snr

※ You can download the configuration file of a chirp design. Chirp Design