# IWR1443 Radar cannot work well on UAV

Sorry first, still familiarizing with ROS and might not understand some terminology. Currently working on final year project which uses Texas Instrument IWR1443 Radar and using the ROS package they provide. This package, however, is built for TurtleBot 2. So, my main task is to make it work with MavROS and remove as much as the TurtleBot package.

I was able to get the Mapping Example Package given by TI running after some minor modification but still working on modifying the navigation example package. There is 2 main issue now.

• Obstacle detection:

The object detected by radar is displayed as PointCloud points. The obstacle mapping only maps points at a certain altitude and azimuth angle range, and only turns the PointCloud into obstacles in CostMap if the point exceeds a certain intensity threshold. Ther result can be seen via RVIS However, no matter how low I set the threshold, I cannot get the cardboard boxes (the obstacle) to be detected at 100% accuracy. It only detected sometimes. Even, more solid objects (metal chair) still failed to detect sometimes. It does appear to be able to detect obstacle better when it is on the ground, hold by hand steadily, and not flying. Is it because it requires steady altitude or movement in general?

The TI navigation package uses move base. I was able to write a package to redirect the move base velocity topic (/cmd_vel) to MavROS velocity topic (/mavros/setpoint_velocity/cmd_vel_unstamped). However, when I am run the navigation package and use the simple goal example ( http://wiki.ros.org/navigation/Tutori... ), the UAV seems to be inconsistent. The best I can observe is once the goal is sent, the UAV will make a left (always) to the desired heading and stay there, not moving forward at all, not reaching the target. I gives these warnings and info:

[ WARN]: mmWave customized rotate recovery behavior started.
[ WARN]: Clearing costmaps...
[ WARN]: Map update loop missed its desired rate of 20.0000Hz... the loop actually took 0.1053 seconds
[ WARN]: Map update loop missed its desired rate of 15.0000Hz... the loop actually took 0.1471 seconds
[ WARN]: Performing rotation...
[ WARN]: Completed rotation...
[ INFO]: Got new plan
[ WARN]: Control loop missed its desired rate of 5.0000Hz... the loop actually took 60.3261 seconds
[ INFO]: Got new plan
[ INFO]: Got new plan
[ INFO]: Got new plan (20 more lines)


I have been trying to work on this issue for more than a month and now I feel very lost. I will provide as much information as I can. But please, help me!

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