3.2.2.1.2 IWR6843AOP, IWR1843 or updating to the Latest SDK

To add support for IWR6843AOP or IWR1843, or for updating to the latest compatible mmWave SDK software, download and refer to Autonomous Robotics with ROS for mmWave. The lab user's guide contains instructions for hardware set up of the EVMs as well as details on the latest supported SDK for the EVMs.

For the software, the Processor SDK package is not continuously updated to maintain compatibility for all variants of mmWave sensors or newer versions of the mmWave SDK. For this reason, users are directed to download the Autonomous Robotics with ROS for mmWave from the mmWave Industrial Toolbox where the latest scripts and configuration files for mmWave sensors are maintained. Users will then replace the relevant files on the AM57x with those from the mmWave Industrial Toolbox. These steps are further detailed below:

Remove the existing files on the AM572x:

• Open a new terminal and SSH into the AM57x EVM
• Navigate to the existing ti_mmwave_rospkg folder
cd/opt/ros/indigo/share/ti_mmwave_rospkg
• Delete the existing cfg folder
rm -r cfg
• Navigate to the launch files
cd/opt/ros/indigo/share/turtlebot_bringup/launch/includes
• Delete existing robot.launch.xml
rm robot.launch.xml

Add the downloaded files from the Linux machine to the AM572x:

• On the Linux machine, download the mmWave Industrial Toolbox and follow Installing ROS and the TI mmWave ROS Driver in the User's Guide of the autonomous_robotics_ros lab within the toolbox
• With the latest autonomous robotics package installed, copy the cfg folder to the AM572x
sudo scp - r /home/rosi/catkin_ws/ti_mmwave_ros_map_nav_v1p4/turtlebot/turtlebot/turtlebot_bringup/launch /includes/robot.launch.xml root@am57xxevm:/ opt/ros/indigo/share/turtlebot_bringup/launch/includes
• Copy the robot.launch.xml folder to the AM572x
sudo scp - r /home/rosi/catkin_ws/ti_mmwave_ros_map_nav_v1p4/turtlebot/turtlebot/turtlebot_bringup/launch /includes/robot.launch.xml root@am57xxevm:/ opt/ros/indigo/share/turtlebot_bringup/launch/includes

Continue with the same procedure described in Section 3.2.2, Test Results but for ⁽⁷⁾, set the mmwave_device to match the desired device when launching the minimal.launch command.

• For IWR6843ISK
roslaunch turtlebot_bringup minimal.launch mmwave_device:=6843ISK
• For IWR6843AOP
roslaunch turtlebot_bringup minimal.launch mmwave_device:=6843AOP
• For IWR1843BOOST
roslaunch turtlebot_bringup minimal.launch mmwave_device:=1843
• For IWR1443BOOST
roslaunch turtlebot_bringup minimal.launch mmwave_device:=1443