ti_mobile_tracker_ros2

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ti_mobile_tracker_ros2

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A lightweight ROS2 driver for the TI IWR6843 mmWave radar running Mobile Tracker firmware. It parses custom TLVs to publish point clouds and tracked object lists with RViz visualization support.

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# ROS2 Driver for TI IWR6843 Mobile Tracker

A lightweight, Python-based ROS2 driver designed specifically for the **Texas Instruments IWR6843 mmWave Radar** running the [Mobile Tracker firmware](https://dev.ti.com/tirex/explore/node?node=A__ALTzjndbFvzim8cyGM-VSQ__radar_toolbox__1AslXXD__LATEST) .

## 🚀 Motivation

While Texas Instruments provides an official ROS driver (`ti_mmwave_rospkg`), it is primarily designed for the "Out-of-Box" demo firmware. It does not correctly parse the specific output data formats (TLVs) generated by the **Mobile Tracker** firmware.

This project bridges that gap by providing a driver capable of:

1. Configuring the radar with a specific `.cfg` file (e.g., `Mobile_Tracker_car.cfg`).
2. Parsing the specific TLVs (Point Cloud, Side Info, Target List, Target Index) used in tracking applications.
3. Publishing standard ROS2 messages (`PointCloud2`) and TI-specific tracking messages.
4. Visualizing tracking results with `MarkerArray` in RViz.

## 📦 Dependencies

### System Dependencies

- **ROS2** (Tested on Humble with Ubuntu 22.04)
- **Python 3**
- **PySerial**: `pip3 install pyserial`
- **NumPy**: `pip3 install numpy`

### ROS Dependencies

This driver relies on message definitions usually found in the TI ROS ecosystem. Ensure you have the message package compiled in your workspace:

- `ti_mmwave_rospkg_msgs` (Contains `RadarTrackArray` and `RadarTrackContents`)
- `sensor_msgs`
- `visualization_msgs`

## ⚙️ Configuration: Serial Ports

The IWR6843 typically exposes two serial ports:

1. **Command/CLI Port** (User UART): Used to send configuration commands.
2. **Data Port** (Data UART): Used to receive high-speed radar data.

You have two options to configure these ports:

### Option 1: Using Udev Rules (Recommended)

To ensure the ports always map to consistent names (e.g., `/dev/ttyUSB_RADAR_CLI` and `/dev/ttyUSB_RADAR_DATA`) regardless of plug-in order, you should create a udev rule.

1. Check your device ID (usually `10c4:ea70` for Silicon Labs CP210x):

Bash

```
   lsusb
   ```

2. Create a rule file:

Bash

```
   sudo nano /etc/udev/rules.d/99-mmwave-radar.rules
   ```

3. Add the following lines (adjust `idVendor` and `idProduct` if yours differs):

Plaintext

```
   # TI mmWave Radar CLI Port (usually the first interface, e.g., if00)
   SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea70", ATTRS{interface}=="Silicon Labs Dual CP2105 USB to UART Bridge: Interface 0", SYMLINK+="ttyUSB_RADAR_CLI"
   
   # TI mmWave Radar DATA Port (usually the second interface, e.g., if01)
   SUBSYSTEM=="tty", ATTRS{idVendor}=="10c4", ATTRS{idProduct}=="ea70", ATTRS{interface}=="Silicon Labs Dual CP2105 USB to UART Bridge: Interface 1", SYMLINK+="ttyUSB_RADAR_DATA"
   ```

*Note: The interface names might vary. You can use `udevadm info -a -n /dev/ttyUSBx` to find unique attributes.*

4. Reload rules:

Bash

```
   sudo udevadm control --reload-rules && sudo udevadm trigger
   ```

### Option 2: Specifying Ports via Parameters

If you do not wish to use udev rules, you can simply identify which port is which (e.g., `/dev/ttyUSB0` and `/dev/ttyUSB1`) and pass them as parameters when running the node.

## 🛠️ Installation

1. Clone this repository into your ROS2 workspace `src` folder:

Bash

```
   cd ~/ros2_ws/src
   git clone https://github.com/YOUR_USERNAME/mobile_tracker.git
   ```

2. Build the workspace:

Bash

```
   cd ~/ros2_ws
   colcon build --packages-select mobile_tracker
   source install/setup.bash
   ```

## ▶️ Usage

### Run with Default Settings

By default, the driver looks for `/dev/ttyUSB0` (CLI) and `/dev/ttyUSB1` (Data).

Bash

```
ros2 run mobile_tracker mmwave_6843_driver
```

### Run with Custom Ports (Command Line)

If your ports are different (or if you mapped them via udev):

Bash

```
ros2 run mobile_tracker mmwave_6843_driver --ros-args -p cli_port:=/dev/ttyUSB_RADAR_CLI -p data_port:=/dev/ttyUSB_RADAR_DATA
```

### Run with a Custom Config File

The driver loads the configuration file located in `cfg/Mobile_Tracker_car.cfg` by default. You can specify a different path:

Bash

```
ros2 run mobile_tracker mmwave_6843_driver --ros-args -p config_file:=/path/to/your/profile.cfg
```

## 📡 Topics Published

| **Topic Name**                  | **Message Type**                        | **Description**                                              |
| ------------------------------- | --------------------------------------- | ------------------------------------------------------------ |
| `/ti_mmwave/radar_scan_pcl`     | `sensor_msgs/PointCloud2`               | The raw point cloud data (X, Y, Z, Doppler, SNR).            |
| `/ti_mmwave/radar_track_array`  | `ti_mmwave_rospkg_msgs/RadarTrackArray` | List of tracked objects (ID, Position, Velocity, Acceleration). |
| `/ti_mmwave/radar_track_marker` | `visualization_msgs/MarkerArray`        | Visualization markers for RViz (Cubes for objects, Arrows for velocity, Text for IDs). |

## 📊 Visualization (RViz)

1. Open RViz2: `ros2 run rviz2 rviz2`
2. Set the **Fixed Frame** to `ti_mmwave_0`.
3. Add a **PointCloud2** display and subscribe to `/ti_mmwave/radar_scan_pcl`.
4. Add a **MarkerArray** display and subscribe to `/ti_mmwave/radar_track_marker`.

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