Where to check the Message?

[KamiCalcium]

Hi,

I was able to run the rviz and see the point cloud and maybe save it to a .csv file. However, I want to check the data(x, y, z coordinate and doppler, etc.). Which command should I use to see the message the save it? I didn't find the message in the terminal or somewhere else.

Also, the second question is I only want the dynamic point cloud. But when I change the clutterremoval in .cfg file from 0 to 1, rviz doesn't show any point cloud then. What should be the correct way to do it?

Thanks a lot!

[KamiCalcium]

Hi, I figure out the first question myself. By using rostopic command.

But for the second question I still don't have a solution, for example, if I set the clutterremoval in 1443es1_mid_range_3d.cfg to 1 (which works perfectly in the mmWave Demo Visualizer), there is no point cloud.

Or if I change a .cfg file, for example this one from TI (which works perfectly in the mmWave Demo Visualizer):

% ***************************************************************
% SDK ver:01.02
% Platform:xWR14xx
% Frequency:77
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.62
% Maximum Radial Velocity(m/s):2.05
% Radial velocity resolution(m/s):0.26
% Frame Duration(msec):200
% Range Detection Threshold (dB):10
% Range Peak Grouping:disabled
% Doppler Peak Grouping:disabled
% Static clutter removal:enabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 118 7 40 0 0 100 1 240 7500 0 0 42
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 200 1 0
lowPower 0 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 1280
peakGrouping 1 0 0 1 229
multiObjBeamForming 1 0.5
clutterRemoval 0
calibDcRangeSig 0 -5 8 256
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 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 99 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
sensorStart
% ***************************************************************

Again, there is no any pointcloud showing even I set the clutterremooval to 0. I wonder how RVIZ shows the pointcloud. Are there some rules to use the .cfg file?

Thanks a lot!

[future-zy]

Hi, I figure out the first question myself. By using rostopic command.

But for the second question I still don't have a solution, for example, if I set the clutterremoval in 1443es1_mid_range_3d.cfg to 1 (which works perfectly in the mmWave Demo Visualizer), there is no point cloud.

Or if I change a .cfg file, for example this one from TI (which works perfectly in the mmWave Demo Visualizer):

% ***************************************************************
% SDK ver:01.02
% Platform:xWR14xx
% Frequency:77
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.62
% Maximum Radial Velocity(m/s):2.05
% Radial velocity resolution(m/s):0.26
% Frame Duration(msec):200
% Range Detection Threshold (dB):10
% Range Peak Grouping:disabled
% Doppler Peak Grouping:disabled
% Static clutter removal:enabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 118 7 40 0 0 100 1 240 7500 0 0 42
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 200 1 0
lowPower 0 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 1280
peakGrouping 1 0 0 1 229
multiObjBeamForming 1 0.5
clutterRemoval 0
calibDcRangeSig 0 -5 8 256
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 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 99 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
sensorStart
% ***************************************************************

Again, there is no any pointcloud showing even I set the clutterremooval to 0. I wonder how RVIZ shows the pointcloud. Are there some rules to use the .cfg file?

Thanks a lot!

YES! you can see mmwave_sdk_user_guide 3.4 to know .cfg how to config.

[senguptaa]

Hi, I figure out the first question myself. By using rostopic command.

But for the second question I still don't have a solution, for example, if I set the clutterremoval in 1443es1_mid_range_3d.cfg to 1 (which works perfectly in the mmWave Demo Visualizer), there is no point cloud.

Or if I change a .cfg file, for example this one from TI (which works perfectly in the mmWave Demo Visualizer):

% ***************************************************************
% SDK ver:01.02
% Platform:xWR14xx
% Frequency:77
% Azimuth Resolution(deg):15 + Elevation
% Range Resolution(m):0.047
% Maximum unambiguous Range(m):9.62
% Maximum Radial Velocity(m/s):2.05
% Radial velocity resolution(m/s):0.26
% Frame Duration(msec):200
% Range Detection Threshold (dB):10
% Range Peak Grouping:disabled
% Doppler Peak Grouping:disabled
% Static clutter removal:enabled
% ***************************************************************
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg 0 1 0 1
profileCfg 0 77 118 7 40 0 0 100 1 240 7500 0 0 42
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 16 0 200 1 0
lowPower 0 0
guiMonitor 1 0 0 0 0 0
cfarCfg 0 2 8 4 3 0 1280
peakGrouping 1 0 0 1 229
multiObjBeamForming 1 0.5
clutterRemoval 0
calibDcRangeSig 0 -5 8 256
compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 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 99 0
CQSigImgMonitor 0 119 4
analogMonitor 1 1
sensorStart
% ***************************************************************

Again, there is no any pointcloud showing even I set the clutterremooval to 0. I wonder how RVIZ shows the pointcloud. Are there some rules to use the .cfg file?

Thanks a lot!

Just to understand your issue better, is your concern that rostopic echo shows points but it doesn't show up visually on RViz?

[Cinthyactg]

Hi, I figure out the first question myself. By using rostopic command.

But for the second question I still don't have a solution, for example, if I set the clutterremoval in 1443es1_mid_range_3d.cfg to 1 (which works perfectly in the mmWave Demo Visualizer), there is no point cloud.

Or if I change a .cfg file, for example this one from TI (which works perfectly in the mmWave Demo Visualizer):

% *************************************************************** % SDK ver:01.02 % Platform:xWR14xx % Frequency:77 % Azimuth Resolution(deg):15 + Elevation % Range Resolution(m):0.047 % Maximum unambiguous Range(m):9.62 % Maximum Radial Velocity(m/s):2.05 % Radial velocity resolution(m/s):0.26 % Frame Duration(msec):200 % Range Detection Threshold (dB):10 % Range Peak Grouping:disabled % Doppler Peak Grouping:disabled % Static clutter removal:enabled % *************************************************************** sensorStop flushCfg dfeDataOutputMode 1 channelCfg 15 7 0 adcCfg 2 1 adcbufCfg 0 1 0 1 profileCfg 0 77 118 7 40 0 0 100 1 240 7500 0 0 42 chirpCfg 0 0 0 0 0 0 0 1 chirpCfg 1 1 0 0 0 0 0 4 chirpCfg 2 2 0 0 0 0 0 2 frameCfg 0 2 16 0 200 1 0 lowPower 0 0 guiMonitor 1 0 0 0 0 0 cfarCfg 0 2 8 4 3 0 1280 peakGrouping 1 0 0 1 229 multiObjBeamForming 1 0.5 clutterRemoval 0 calibDcRangeSig 0 -5 8 256 compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 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 99 0 CQSigImgMonitor 0 119 4 analogMonitor 1 1 sensorStart % ***************************************************************

Again, there is no any pointcloud showing even I set the clutterremooval to 0. I wonder how RVIZ shows the pointcloud. Are there some rules to use the .cfg file?

Thanks a lot!

Sorry, Which command did you use to visualize the message and how you ave the data in a .cvs file?

[Cinthyactg]

rostopic echo /ti_mmwave/radar_scan