Other Parts Discussed in Thread: MMWAVEICBOOST,
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Version of mmWave SDK: mmwave_sdk_03_00_00_08
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Details of board platform IWR6843ISK PROC 073 Rev A.and MMWAVEICBOOST
I had the ROS point cloud demo working yesterday, but now it keeps failing. RViz opens but no points are displayed.
I have tried 3 different power supplies, it was working with a 2.5A supply yesterday. I have been trying to make it work again with a 3.5A power supply, but ROS is still complaining about mmWaveCLI failing. the output is below
$ roslaunch ti_mmwave_rospkg rviz_6843_3d.launch
... logging to /home/dharper/.ros/log/b5957b96-c44d-11e9-bce3-9cb6d0c83c04/roslaunch-CPR01973-369.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://CPR01973:56324/
SUMMARY
========
PARAMETERS
* /mmWave_Manager/command_port: /dev/ttyS5
* /mmWave_Manager/command_rate: 115200
* /mmWave_Manager/data_port: /dev/ttyS4
* /mmWave_Manager/data_rate: 921600
* /mmWave_Manager/max_allowed_azimuth_angle_deg: 90
* /mmWave_Manager/max_allowed_elevation_angle_deg: 90
* /rosdistro: indigo
* /rosversion: 1.14.3
NODES
/
mmWaveQuickConfig (ti_mmwave_rospkg/mmWaveQuickConfig)
mmWave_Manager (ti_mmwave_rospkg/ti_mmwave_rospkg)
rviz (rviz/rviz)
static_tf_map_to_base_radar_link (tf/static_transform_publisher)
auto-starting new master
process[master]: started with pid [382]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to b5957b96-c44d-11e9-bce3-9cb6d0c83c04
process[rosout-1]: started with pid [396]
started core service [/rosout]
process[mmWave_Manager-2]: started with pid [403]
process[mmWaveQuickConfig-3]: started with pid [404]
process[static_tf_map_to_base_radar_link-4]: started with pid [405]
[ INFO] [1566417369.162228600]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/dharper/catkin_ws/src/ti_mmwave_rospkg/cfg/6843_3d.cfg
[ INFO] [1566417369.172232400]: waitForService: Service [/mmWaveCommSrv/mmWaveCLI] has not been advertised, waiting...
process[rviz-5]: started with pid [406]
[ INFO] [1566417369.513027500]: Initializing nodelet with 12 worker threads.
[ INFO] [1566417369.518699900]: mmWaveCommSrv: command_port = /dev/ttyS5
[ INFO] [1566417369.519014700]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1566417369.522130700]: mmWaveDataHdl: data_port = /dev/ttyS4
[ INFO] [1566417369.522358700]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1566417369.522802600]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1566417369.523325000]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1566417369.525800600]: DataUARTHandler Read Thread: Port is open
[ INFO] [1566417369.532174200]: waitForService: Service [/mmWaveCommSrv/mmWaveCLI] is now available.
[ INFO] [1566417369.533032000]: mmWaveQuickConfig: Ignored blank or comment line: '% ***************************************************************'
[ INFO] [1566417369.533993400]: mmWaveQuickConfig: Ignored blank or comment line: '% Created for SDK ver:03.00'
[ INFO] [1566417369.534521500]: mmWaveQuickConfig: Ignored blank or comment line: '% Created using Visualizer ver:3.0.0.1'
[ INFO] [1566417369.535384100]: mmWaveQuickConfig: Ignored blank or comment line: '% Frequency:60.25'
[ INFO] [1566417369.535940200]: mmWaveQuickConfig: Ignored blank or comment line: '% Platform:xWR68xx'
[ INFO] [1566417369.536354200]: mmWaveQuickConfig: Ignored blank or comment line: '% Scene Classifier:best_range_res'
[ INFO] [1566417369.537073800]: mmWaveQuickConfig: Ignored blank or comment line: '% Azimuth Resolution(deg):15 + Elevation'
[ INFO] [1566417369.538129900]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Resolution(m):0.045'
[ INFO] [1566417369.538766900]: mmWaveQuickConfig: Ignored blank or comment line: '% Maximum unambiguous Range(m):9.02'
[ INFO] [1566417369.539434600]: mmWaveQuickConfig: Ignored blank or comment line: '% Maximum Radial Velocity(m/s):5.06'
[ INFO] [1566417369.541080400]: mmWaveQuickConfig: Ignored blank or comment line: '% Radial velocity resolution(m/s):0.64'
[ INFO] [1566417369.541771700]: mmWaveQuickConfig: Ignored blank or comment line: '% Frame Duration(msec):33.333'
[ INFO] [1566417369.542278000]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Detection Threshold (dB):9'
[ INFO] [1566417369.542789600]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler Detection Threshold (dB):9'
[ INFO] [1566417369.543255700]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Peak Grouping:disabled'
[ INFO] [1566417369.543851000]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler Peak Grouping:enabled'
[ INFO] [1566417369.544413400]: mmWaveQuickConfig: Ignored blank or comment line: '% Static clutter removal:disabled'
[ INFO] [1566417369.544948900]: mmWaveQuickConfig: Ignored blank or comment line: '% Angle of Arrival FoV: Full FoV'
[ INFO] [1566417369.545455800]: mmWaveQuickConfig: Ignored blank or comment line: '% Range FoV: Full FoV'
[ INFO] [1566417369.546006400]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler FoV: Full FoV'
[ INFO] [1566417369.546433400]: mmWaveQuickConfig: Ignored blank or comment line: '% ***************************************************************'
[ INFO] [1566417369.547409500]: mmWaveQuickConfig: Sending command: 'sensorStop'
[ INFO] [1566417369.550556200]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1566417369.556965800]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Ignored: Sensor is already stopped
Done
mmwDemo:/>'
[ INFO] [1566417369.564453700]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.565237000]: mmWaveQuickConfig: Sending command: 'flushCfg'
[ INFO] [1566417369.568092700]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ INFO] [1566417369.571070300]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Done
mmwDemo:/>'
[ INFO] [1566417369.576981600]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.577820400]: mmWaveQuickConfig: Sending command: 'dfeDataOutputMode 1'
[ INFO] [1566417369.580570600]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ INFO] [1566417369.584475600]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Done
mmwDemo:/>'
[ INFO] [1566417369.591152300]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.591860900]: mmWaveQuickConfig: Sending command: 'channelCfg 15 7 0'
[ INFO] [1566417369.594686600]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'
[ INFO] [1566417369.598581200]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0
Done
mmwDemo:/>'
[ INFO] [1566417369.604225000]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.604827900]: mmWaveQuickConfig: Sending command: 'adcCfg 2 1'
[ INFO] [1566417369.607846200]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[ INFO] [1566417369.611110400]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Done
mmwDemo:/>'
[ INFO] [1566417369.617244400]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.617964800]: mmWaveQuickConfig: Sending command: 'adcbufCfg -1 0 1 1 1'
[ INFO] [1566417369.620851700]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1'
[ INFO] [1566417369.625120500]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 1
Done
mmwDemo:/>'
[ INFO] [1566417369.630767600]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.631552800]: mmWaveQuickConfig: Sending command: 'profileCfg 0 60.25 7 7 75 0 0 50 1 240 3582 0 0 30'
[ INFO] [1566417369.634792800]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 60.25 7 7 75 0 0 50 1 240 3582 0 0 30'
[ INFO] [1566417369.642019900]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 60.25 7 7 75 0 0 50 1 240 3582 0 0 30
Done
mmwDemo:/>'
[ INFO] [1566417369.648258900]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.649002000]: mmWaveQuickConfig: Sending command: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1566417369.651760400]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1566417369.656150200]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1566417369.662827400]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.663591600]: mmWaveQuickConfig: Sending command: 'chirpCfg 1 1 0 0 0 0 0 4'
[ INFO] [1566417369.666466400]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'
[ INFO] [1566417369.670945700]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4
Done
mmwDemo:/>'
[ INFO] [1566417369.677450700]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.677992500]: mmWaveQuickConfig: Sending command: 'chirpCfg 2 2 0 0 0 0 0 2'
[ INFO] [1566417369.680823600]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'
[ INFO] [1566417369.685156200]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2
Done
mmwDemo:/>'
[ INFO] [1566417369.690728300]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.691653800]: mmWaveQuickConfig: Sending command: 'frameCfg 0 2 16 0 33.333 1 0'
[ INFO] [1566417369.694466800]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'
[ INFO] [1566417369.699327000]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 33.333 1 0
Done
mmwDemo:/>'
[ INFO] [1566417369.706621400]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.707183000]: mmWaveQuickConfig: Sending command: 'lowPower 0 0'
[ INFO] [1566417369.710033300]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0'
[ INFO] [1566417369.713465300]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 0
Done
mmwDemo:/>'
[ INFO] [1566417369.720668100]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.721303800]: mmWaveQuickConfig: Sending command: 'guiMonitor -1 1 0 0 0 0 0'
[ INFO] [1566417369.724643200]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 0 0 0 0 0'
[ INFO] [1566417369.729234700]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 0 0 0 0 0
Done
mmwDemo:/>'
[ INFO] [1566417369.735043900]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.735970700]: mmWaveQuickConfig: Sending command: 'cfarCfg -1 0 0 8 4 4 0 768 0'
[ INFO] [1566417369.738881400]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 0 8 4 4 0 768 0'
[ INFO] [1566417369.743773500]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 0 8 4 4 0 768 0
Done
mmwDemo:/>'
[ INFO] [1566417369.749547300]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.750270200]: mmWaveQuickConfig: Sending command: 'cfarCfg -1 1 0 4 2 3 1 768 1'
[ INFO] [1566417369.753303800]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 4 2 3 1 768 1'
[ INFO] [1566417369.758163600]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 1 0 4 2 3 1 768 1
Done
mmwDemo:/>'
[ INFO] [1566417369.763989000]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done')
[ INFO] [1566417369.765269100]: mmWaveQuickConfig: Sending command: 'multiObjBeamForming -1 1 0.5'
[ERROR] [1566417369.767174900]: mmWaveQuickConfig: Failed to call service mmWaveCLI
[ERROR] [1566417369.767425000]: multiObjBeamForming -1 1 0.5
[mmWaveQuickConfig-3] process has died [pid 404, exit code 1, cmd /home/dharper/catkin_ws/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig /home/dharper/catkin_ws/src/ti_mmwave_rospkg/cfg/6843_3d.cfg __name:=mmWaveQuickConfig __log:=/home/dharper/.ros/log/b5957b96-c44d-11e9-bce3-9cb6d0c83c04/mmWaveQuickConfig-3.log].
log file: /home/dharper/.ros/log/b5957b96-c44d-11e9-bce3-9cb6d0c83c04/mmWaveQuickConfig-3*.log
I have tried reloading v3.2 of the demo firmware and tried out the mmWave Demo Visualizer and it works, but the ROS demo does not anymore.