Autonomous Robots Reference Design Using ROS on Sitara™ MPU and Antenna-On-Package mmWave Sensor

Revision History

Changes from D Revision (September 2019) to E Revision

Added ...for example, the IWR6843AOP, which is a standalone EVM using the IWR6843 Antenna-On-Package, which minimizes footprint and design complexity as there is no need for antennas on the PCB. Go
Added Figure 4: IWR6843AOPGo

Changes from C Revision (July 2019) to D Revision

Changed "IWR6843ISK and IWR6843AOPEVM" to "IWR6843ISK, IWR6843AOPEVM, IWR1443BOOST, or IWR1843BOOST." Go
Added IWR1443, or IWR1843 EVMGo
Added Other mmWave sensors, including the IWR1443, IWR1843, and IWR6843AOP EVMS, are also supported. Specifics related to enabling these other supported platforms are detailed in Section 3.2.2.1.2Go
Added IWR1843BOOSTGo
Added Update to the latest mmWave drivers: to use the latest mmWave SDK or other mmWave EVMs, see Section 3.2.2.1.2Go
Changed software versionGo
Added For other compatible mmWave sensors, this step will differ. Refer to Section 3.2.2.1.2 for additional steps required to enable support for other mmWave EVMs.Go
Changed "IWR6843AOP and Latest SDK" to "IWR6843AOP, IWR1843 or updating to the Latest SDK"Go
Added IWR1843Go
Added paragraphGo

Changes from B Revision (June 2019) to C Revision

Changed title from "Autonomous robotics reference design with Sitara™ Processor and mmWave Sensors using ROS" to "Autonomous Robots Reference Design Using ROS on Sitara™ MPU and Antenna-On-Package mmWave Sensor" Go
Changed "IWR6843" to "IWR6843ISK and IWR6843AOPEVM"Go
Added sentence: In addition, it also supports the IWR6843 antenna-on-package variant of mmWave sensors which enables reduced design and manufacturing cost, simplified system design, smaller sensor footprint, and eventually faster time to market. Go
Added Integration with IWR6843AOPEVM enables a 130º FOV coverage in both azimuth and elevation to enable smarter decision making based on object height. Go
Deleted mmWave radar sending and seamlessly communicating with AM57x processor over ROSGo
Deleted the Autonomous Robotics with ROS for mmWave lab in the Industrial mmWave ToolboxGo

Changes from A Revision (January 2019) to B Revision

Changed IWR6843ISK to IWR6843Go
Added IWR6843AOPEVMGo
Changed paragraph adding additional informationGo
Changed "...and this solution enables unprecedented levels of integration in an extremely small form factor." to "... to integrate analog RF as well as digital processing in a single chip."Go
Added Option for integration of 4 receiver and 3 transmitter antenna-on-package (AOP) Go
Added ARM-R4F microcontroller for object detection, and interface control Go
Added Supports autonomous mode (loading user application from QSPI flash memory)Go
Added C674x DSP for advanced signal processing (IWR6843 or IWR6843 AOP only) Go
Deleted IWR1443 mmWave radar sensingGo
Added Alternatively, the IWR6843ISK and mmWaveICBOOST boards can be interchanged for other compatible mmWave sensors. Refer to Section 3.2.2.1 for additional steps required to enable support for other mmWave EVMs. Go
Changed IWR6843ISK to WR6843ISKGo
Added text regarding the EVM User's Guide and mmWave SDK Go
Changed subsection title from "For IWR1443 User Support" to "Additional Support for mmWave SensorsGo
Added new section for IWR1443Go
Added IWR6843AOP and Latest SDK subsectionGo
Added Autonomous Robotics with ROS for mmWave lab in the Industrial mmWave Toolbox linkGo

Changes from * Revision (November 2018) to A Revision

Global: Changed all "IWR1443" references to "IWR6843", where applicableGo
Global: Changed all "IWR1443 EVM" references to "IWR6843ISK" , where applicableGo
Global: Changed all "IWR1443BOOST" references to "IWR6843ISK + MMWAVEICBOOST", where applicableGo
Global: Updated/Changed all figures to reflect the new IWR6843ISK + MMWACEICBOOST"Go
: Changed the "IWR1443" Product Folder reference to "IWR6843" and updated the associated ulinkGo
: Updated/Changed the "IWR1443BOOST" Tool Folder reference to "IWR6843ISK" and updated the associated ulinkGo
Changed to reflect the key features for the IWR6843 mmWave sensor.Go
Added sentence with move_base change detailsGo
Added ROS Packages; changed the Yocto recipe example to be a generalized [version]Go
Changed this section to detail the IWR6843ISK and MMWAVEICBOOST boards within the mmWave EVM Hardware.Go
Changed paragraph to include the correct mmWave SDK version which supports IWR6843Go
Changed sentence stating the Ubuntu version used for verifying this reference design Go
Changed paragraph to discuss the mounting of the IWR6843ISK and MMWAVEICBOOST boards to the KobukiGo
Changed the hardware setup to include the mounting of the IWR6843ISK and MMWAVEICBOOST boards to the Kobuki Go
Added the copying of the kobuki_description directory from target to Ubuntu Go
Changed the code example command line to include the specific device (6843) Go
Changed the screen captures (beginning and end) to show usage with IWR6843Go
Added new subsection to support any IWR1443 users Go
Changed the specified ulink Go
Changed the "IWR1443" evaluation module reference to the mmWave sensor standard plug-in module for the "IWR6843" and updated the ulinkGo
Changed the ulink for the TI mmWave ROS DriverGo
Changed the ulink for the TI Autonomous Robotics with ROS for mmWaveGo
Changed mmWave sensors carrier card platform (MMWAVEICBOOST) title along with the ulinkGo
Changed the term "ISK" to this sectionGo
Changed sequence order terms to be alphabeticalGo

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