TIDUEK9E November 2018 – April 2020
2.1 Block Diagram
Figure 1. TIDEP-01006 Block Diagram
As shown in Figure 1, this reference design consists of the following subsystems:
- An AM57x running Processor SDK Linux and ROS. The AM57x processor acts as the ROS master, runs the navigation stack, and interacts with the mmWave sensor (via the mmWave node) and the mobile platform (via the Kobuki node) for autonomous navigation. The AM57x processor also communicates with a Ubuntu Linux box which runs Rviz for visualizing the navigation.
- A mmWave radar sensor for object detection. Objects within the sensor's field of view are represented as 3D point clouds. Each point within the point cloud has an X, Y, and Z location coordinate as well as associated doppler and SNR information. Depending on application requirements, any one of the following mmWave evaluation modules can be used in the system:
- Kobuki mobile platform
- Ubuntu Linux box for remote control and real-time visualization with ROS Rviz (Ubuntu Linux box is needed since Rviz requires an OpenGL desktop support, while Processor SDK Linux on the AM57x supports OpenGL ES 2.0 only).