ROS与传感器教程-mmwave AWR1642毫米波使用（Ubuntu）

说明：

• 介绍如何在Ubuntu使用mmwave AWR1642毫米波

步骤：

• 下载ros包

$ cd ~/catkin_ws/src
$ git clone https://github.com/radar-lab/ti_mmwave_rospkg.git
$ git clone https://github.com/wjwwood/serial.git
$ cd ../.
$ catkin_make

• 查看对应的端口,添加权限

$ ls /dev/ttyACM*
$ sudo chmod 666 /dev/ttyACM0
$ sudo chmod 666 /dev/ttyACM1

• 启动AWR1642，测试驱动

$ roslaunch ti_mmwave_rospkg 1642es2_short_range.launch

• 打印话题

$ rostopic list
$ rostopic echo /ti_mmwave/radar_scan

header:
  seq: 42714
  stamp:
    secs: 1600675689
    nsecs:  28612055
  frame_id: ti_mmwave     # Frame ID used for multi-sensor scenarios
point_id: 8               # Point ID of the detecting frame (Every frame starts with 0)
x: 1.83203125             # Point x coordinates in m (front from antenna)
y: -0.0                   # Point y coordinates in m (left/right from antenna, right positive)
z: 0.0                    # Point z coordinates in m (up/down from antenna, up positive)
range: 1.83002197742      # Radar measured range in m
velocity: 0.0             # Radar measured range rate in m/s
doppler_bin: 8            # Doppler bin location of the point (total bins = num of chirps)
bearing: -0.0             # Radar measured angle in degrees (right positive)
intensity: 30.3302135468  # Radar measured intensity in dB

参考：

• https://github.com/radar-lab/ti_mmwave_rospkg