mmwave-ros

Table of Contents

1. Introduction
2. Prerequisites
3. Installation and Usage
4. Debugging

Introduction

A driver for the IWR6843-ISK radar from Texas Instrument written in C++ for ROS2 which publishes a pointcloud2.

Prerequisites

• ROS2: Ubuntu 22.04 with Humble and Foxy tested
• IWR6843-ISK flashed with out-of-box firmware. See instructions here for flashing the device.

Installation and Usage

1. Clone the project and cd into it

   git clone [email protected]:NicolaiAdil/mmwave-ros.git
   cd mmwave-ros

2. Install neccessary packages, build the project and source it

   rosdep install -i --from-path src --rosdistro humble -y
   colcon build
   source install/setup.bash

3. Modify the variable devices in the launch files to correspond to your radars. Run the following script to list your device id's

   ./extract_device_id.sh

4. Elevate the privileges of the radar

   sudo chmod 666 /dev/serial/by-id/usb-Silicon_Labs_CP2105_Dual_USB_to_UART_Bridge_Controller_*

5. Run the project with wanted launch file

   ros2 launch launch/LAUNCH_FILE

Debugging

Failed to open device: Permission denied.

Probably the most common error. Either the device is not plugged in correctly, or permissions have not been elevated correctly.