毫米波雷达 TI IWR1443 在 ROS 中进行 octomap 建图

个人实验记录

/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/launch/1443_multi_3d_0.launch

<launch>

  <!-- Input arguments -->
  <arg name="device" value="1443" doc="TI mmWave sensor device type [1443, 1642]"/>
  <arg name="config" value="3d" doc="TI mmWave sensor device configuration [3d_best_range_res (not supported by 1642 EVM), 2d_best_range_res]"/>
  <arg name="max_allowed_elevation_angle_deg" default="90" doc="Maximum allowed elevation angle in degrees for detected object data [0 > value >= 90]}"/>
  <arg name="max_allowed_azimuth_angle_deg" default="90" doc="Maximum allowed azimuth angle in degrees for detected object data [0 > value >= 90]}"/>

  <!-- mmWave_Manager node -->
  <node pkg="ti_mmwave_rospkg" type="ti_mmwave_rospkg" name="ti_mmwave" ns="radar_0" output="screen">
    <param name="command_port" value="/dev/ttyACM0"  />
    <param name="command_rate" value="115200"   />
    <param name="data_port" value="/dev/ttyACM1"  />
    <param name="data_rate" value="921600"   />
    <param name="max_allowed_elevation_angle_deg" value="$(arg max_allowed_elevation_angle_deg)"   />
    <param name="max_allowed_azimuth_angle_deg" value="$(arg max_allowed_azimuth_angle_deg)"   />
    <param name="frame_id" value="/ti_mmwave_0"/>
    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
    <remap from="/ti_mmwave/radar_scan_pcl" to="/ti_mmwave/radar_scan_pcl_0"/>
  </node>

  <!-- mmWaveQuickConfig node (terminates after configuring mmWave sensor) -->
  <node pkg="ti_mmwave_rospkg" type="mmWaveQuickConfig" name="ti_mmwave_config" ns="radar_0" args="$(find ti_mmwave_rospkg)/cfg/1443_3d.cfg" output="screen" >
    <param name="mmWaveCLI_name" value="/mmWaveCLI" />
  </node>

  <node pkg="tf" type="static_transform_publisher" name="base_to_radar" args="0 0 0 0 0 0 base_footprint ti_mmwave_0 100"/>

  <!-- <node pkg="rviz" type="rviz" name="rviz" args="-d $(find ti_mmwave_rospkg)/launch/rviz/ti_mmwave_multi.rviz"/> -->
</launch>

点云输出话题：/ti_mmwave/radar_scan_pcl_0

/mmwave_ti_ros/robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_limit_filters.launch

<!--
  Filters for the data from the radar
 -->
<launch>

   <node pkg="nodelet" type="nodelet" name="pcl_manager" args="manager" output="screen"/>
   
   <!-- 
      x_filt 节点：这是一个名为 x_filt 的节点，用于加载一个点云滤波器，具体是 pcl/PassThrough。
      这个滤波器将用于过滤雷达数据中的 x 坐标。
      通过 <remap> 标签，将输入和输出话题进行重映射，以将数据传递给下一个滤波器。
      通过 <rosparam> 标签，设置了滤波器的参数，包括 
      filter_field_name（要过滤的字段名）、
      filter_limit_min（最小允许值）、
      filter_limit_max（最大允许值）、
      filter_limit_negative（是否允许负值）
   -->
   <node pkg="nodelet" type="nodelet" name="x_filt" args="load pcl/PassThrough pcl_manager" output="screen">
   		<!-- 将毫米波点云输入过滤器 -->
      <remap from="~input" to="ti_mmwave/radar_scan_pcl_0" />
      <remap from="~output" to="x_filt_out" />
      <rosparam>
         filter_field_name: x
         filter_limit_min: 0.1
         filter_limit_max: 4
         filter_limit_negative: False
      </rosparam>
   </node>
   
   <node pkg="nodelet" type="nodelet" name="y_filt" args="load pcl/PassThrough pcl_manager" output="screen">
      <remap from="~input" to="x_filt_out" />
      <remap from="~output" to="xy_filt_out" />
      <rosparam>
         filter_field_name: y
         filter_limit_min: -3
         filter_limit_max: 3
         filter_limit_negative: False
      </rosparam>
   </node>
   
   <node pkg="nodelet" type="nodelet" name="z_filt" args="load pcl/PassThrough pcl_manager" output="screen">
      <remap from="~input" to="xy_filt_out" />
      <remap from="~output" to="xyz_filt_out" />
      <rosparam>
         filter_field_name: z
         filter_limit_min: -0.4
         filter_limit_max: 0.10
         filter_limit_negative: False
      </rosparam>
   </node>
   
   <!-- 过滤强度 -->
   <node pkg="nodelet" type="nodelet" name="i_filt" args="load pcl/PassThrough pcl_manager" output="screen">
      <remap from="~input" to="xyz_filt_out" />
      <remap from="~output" to="xyzi_filt_out" />
      <rosparam>
         filter_field_name: intensity
         filter_limit_min: 8
         filter_limit_max: 100
         filter_limit_negative: False
      </rosparam>
   </node>

</launch>

点云输出话题：/xyzi_filt_out、/xyz_filt_out、/xy_filt_out、/x_filt_out

/mmwave_ti_ros/robotics_ros/src/turtlebot_mmwave_launchers/launch/single_sensor/radar_mapping.launch

<!--
  Launch file to perform mapping using octomap with the radar
 -->

<!-- 
运行 ROS 中的 octomap_server 软件包。
其中有几个过滤器可供使用： 用于所有点云字段的通过过滤器，以及用于过滤原始地图的统计离群点去除过滤器。
通过式过滤器：去除特定字段（X、Y、Z、强度）中超出一定范围的值
统计离群点去除：根据与其近邻的距离去除数值
这些过滤器的参数/限制可在 turtlebot_mmwave_launchers/launch/radar_limit_filters.launch 文件中找到并修改。
更改 radar_limit_filters.launch 文件后，必须重新启动 radar_mapping.launch 文件，以使新参数生效。 
-->

<launch>

  <!-- Publish static transform from map to odom for mapping using only odometry info -->
  <node pkg="tf" type="static_transform_publisher" name="static_tf_map_to_odom" args="0 0 0 0 0 0 map odom 100"/>

  <!-- Add nodes to filter/limit Radar data before using it for mapping -->
  <!-- nodelet -->
  <include file="$(find turtlebot_mmwave_launchers)/launch/single_sensor/radar_limit_filters.launch">
  </include>

  <!-- Create "raw" 3D map using first octomap node -->
  <node pkg="octomap_server" type="octomap_server_node" name="octomap_raw" output="screen" >
    <remap from="octomap_point_cloud_centers" to="raw_point_cloud_centers" />
    <remap from="projected_map" to="raw_map" />
    <param name="frame_id" type="string" value="/ti_mmwave_0" />
    <remap from="cloud_in" to="xyzi_filt_out" />
  </node>
  
  <!-- Perform SOR filtering on output from "raw" octomap node -->
  <node pkg="nodelet" type="nodelet" name="mapping_SOR_filt_mapping" args="standalone pcl/StatisticalOutlierRemoval" output="screen" >
    <remap from="~input" to="raw_point_cloud_centers" />
    <remap from="~output" to="mapping_SOR_filter_out" />
    <param name="mean_k" value="20" />
    <param name="stddev" value="0.04" />
  </node>
  
  <!-- Create "filtered" 3D map using second octomap node -->
  <node pkg="octomap_server" type="octomap_server_node" name="octomap_filtered" output="screen" >
    <remap from="octomap_point_cloud_centers" to="filtered_point_cloud_centers" />
    <remap from="projected_map" to="filtered_map" />
    <remap from="cloud_in" to="mapping_SOR_filter_out" />
  </node>
  
</launch>

建图：

roslaunch ti_mmwave_rospkg 1443_multi_3d_0.launch
roslaunch turtelbot_mmwave_launchers radar_mapping.launch

rostopic list

rqt_graph

rosrun rqt_tf_tree rqt_tf_tree