[ INFO] [1580394679.853790601]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/wlee/catkin_ws/src/ti_mmwave_rospkg/cfg/6843_2d.cfg [ INFO] [1580394679.857503242]: waitForService: Service [/mmWaveCommSrv/mmWaveCLI] has not been advertised, waiting... [ INFO] [1580394679.899133641]: waitForService: Service [/mmWaveCommSrv/mmWaveCLI] is now available. [ INFO] [1580394679.899401807]: mmWaveQuickConfig: Ignored blank or comment line: '% ***************************************************************' [ INFO] [1580394679.899666267]: mmWaveQuickConfig: Ignored blank or comment line: '% Created for SDK ver:03.00' [ INFO] [1580394679.899821133]: mmWaveQuickConfig: Ignored blank or comment line: '% Created using Visualizer ver:3.0.0.1' [ INFO] [1580394679.899986620]: mmWaveQuickConfig: Ignored blank or comment line: '% Frequency:60.25' [ INFO] [1580394679.900159390]: mmWaveQuickConfig: Ignored blank or comment line: '% Platform:xWR68xx' [ INFO] [1580394679.900348463]: mmWaveQuickConfig: Ignored blank or comment line: '% Scene Classifier:best_range_res' [ INFO] [1580394679.900513855]: mmWaveQuickConfig: Ignored blank or comment line: '% Azimuth Resolution(deg):15' [ INFO] [1580394679.900665409]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Resolution(m):0.045' [ INFO] [1580394679.900817588]: mmWaveQuickConfig: Ignored blank or comment line: '% Maximum unambiguous Range(m):9.02' [ INFO] [1580394679.900972040]: mmWaveQuickConfig: Ignored blank or comment line: '% Maximum Radial Velocity(m/s):5.06' [ INFO] [1580394679.901166379]: mmWaveQuickConfig: Ignored blank or comment line: '% Radial velocity resolution(m/s):0.64' [ INFO] [1580394679.901383186]: mmWaveQuickConfig: Ignored blank or comment line: '% Frame Duration(msec):33.333' [ INFO] [1580394679.901596135]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Detection Threshold (dB):9' [ INFO] [1580394679.901808560]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler Detection Threshold (dB):9' [ INFO] [1580394679.902006572]: mmWaveQuickConfig: Ignored blank or comment line: '% Range Peak Grouping:disabled' [ INFO] [1580394679.902227886]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler Peak Grouping:enabled' [ INFO] [1580394679.902425301]: mmWaveQuickConfig: Ignored blank or comment line: '% Static clutter removal:disabled' [ INFO] [1580394679.902621338]: mmWaveQuickConfig: Ignored blank or comment line: '% Angle of Arrival FoV: Full FoV' [ INFO] [1580394679.902830274]: mmWaveQuickConfig: Ignored blank or comment line: '% Range FoV: Full FoV' [ INFO] [1580394679.903026782]: mmWaveQuickConfig: Ignored blank or comment line: '% Doppler FoV: Full FoV' [ INFO] [1580394679.903217470]: mmWaveQuickConfig: Ignored blank or comment line: '% ***************************************************************' [ INFO] [1580394679.903513297]: mmWaveQuickConfig: Sending command: 'sensorStop' [ INFO] [1580394679.912035340]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.912412151]: mmWaveQuickConfig: Sending command: 'flushCfg' [ INFO] [1580394679.917105615]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.917452936]: mmWaveQuickConfig: Sending command: 'dfeDataOutputMode 1' [ INFO] [1580394679.923275028]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.923578912]: mmWaveQuickConfig: Sending command: 'channelCfg 15 5 0' [ INFO] [1580394679.929035944]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.929337966]: mmWaveQuickConfig: Sending command: 'adcCfg 2 1' [ INFO] [1580394679.934053242]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO][ INFO] [1580394679.889324547]: Initializing nodelet with 4 worker threads. [ INFO] [1580394679.892415716]: mmWaveCommSrv: command_port = /dev/ttyACM0 [ INFO] [1580394679.892431845]: mmWaveCommSrv: command_rate = 115200 [ INFO] [1580394679.894458580]: mmWaveDataHdl: data_port = /dev/ttyACM1 [ INFO] [1580394679.894473645]: mmWaveDataHdl: data_rate = 921600 [ INFO] [1580394679.894479522]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90 [ INFO] [1580394679.894484329]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90 [ INFO] [1580394679.895213880]: DataUARTHandler Read Thread: Port is open [ INFO] [1580394679.904707464]: mmWaveCommSrv: Sending command to sensor: 'sensorStop' [ INFO] [1580394679.910789902]: mmWaveCommSrv: Received response from sensor: 'sensorStop Ignored: Sensor is already stopped Done mmwDemo:/>' [ INFO] [1580394679.913452763]: mmWaveCommSrv: Sending command to sensor: 'flushCfg' [ INFO] [1580394679.916120465]: mmWaveCommSrv: Received response from sensor: 'flushCfg Done mmwDemo:/>' [ INFO] [1580394679.918694241]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1' [ INFO] [1580394679.922384455]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1 Done mmwDemo:/>' [ INFO] [1580394679.924674780]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 5 0' [ INFO] [1580394679.928126196]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 5 0 Done mmwDemo:/>' [ INFO] [1580394679.930271347]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1' [ INFO] [1580394679.933171252]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1 Done mmwDemo:/>' [ INFO] [1580394679.937478448]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1' [ INFO] [1580394679.941233882]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 1 Done mmwDemo:/>' [ INFO] [1580394679.943467414]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 60.25 48 7 75 0 0 50 1 240 3582 0 0 30' [ INFO] [1580394679.950002103]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 60.25 48 7 75 0 0 50 1 240 3582 0 0 30 Done mmwDemo:/>' [ INFO] [1580394679.952325383]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1' [ INFO] [1580394679.956426397]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1 Done mmwDemo:/>' [ INFO] [1580394679.958655856]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4' [ INFO] [1580394679.962766327]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4 Done mmwDemo:/>' [ INFO] [1580394679.965472986]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 1 16 0 33.333 1 0' [ INFO] [1580394679.969957774]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 1 16 0 33.333 1 0 Done mmwDemo:/>' [ INFO] [1580394679.972257576]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0' [ INFO] [1580394679.975358988]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 0 Done mmwDemo:/>' [ INFO] [1580394679.977572612]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 0 0 0 0 0' [ INFO] [1580394679.981750943]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 0 0 0 0 0 Done mmwDemo:/>' [ INFO] [1580394679.984125184]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 0 8 4 4 0 768 0' [ INFO] [1580394679.994122047]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 0 8 4 4 0 768 0 Error: Maximum value for CFAR thresholdScale is 100.0 dB. Error -1 mmwDemo:/>' [ INFO] [1580394679.996465617]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 0 8 4 4 0 768 0' [ INFO] [1580394680.006433534]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 0 8 4 4 0 768 0 Error: Maximum value for CFAR thresholdScale is 100.0 dB. Error -1 mmwDem [1580394679.934353977]: mmWaveQuickConfig: Sending command: 'adcbufCfg -1 0 1 1 1' [ INFO] [1580394679.942076455]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.942393911]: mmWaveQuickConfig: Sending command: 'profileCfg 0 60.25 48 7 75 0 0 50 1 240 3582 0 0 30' [ INFO] [1580394679.950978057]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.951306447]: mmWaveQuickConfig: Sending command: 'chirpCfg 0 0 0 0 0 0 0 1' [ INFO] [1580394679.957277848]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.957596716]: mmWaveQuickConfig: Sending command: 'chirpCfg 1 1 0 0 0 0 0 4' [ INFO] [1580394679.963654553]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.963980985]: mmWaveQuickConfig: Sending command: 'frameCfg 0 1 16 0 33.333 1 0' [ INFO] [1580394679.970964972]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.971255632]: mmWaveQuickConfig: Sending command: 'lowPower 0 0' [ INFO] [1580394679.976262346]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.976591077]: mmWaveQuickConfig: Sending command: 'guiMonitor -1 1 0 0 0 0 0' [ INFO] [1580394679.982736248]: mmWaveQuickConfig: Command successful (mmWave sensor responded with 'Done') [ INFO] [1580394679.983129514]: mmWaveQuickConfig: Sending command: 'cfarCfg -1 0 0 8 4 4 0 768 0' [ INFO] [1580394679.995001934]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done') [ INFO] [1580394679.995028229]: mmWaveQuickConfig: Response: 'cfarCfg -1 0 0 8 4 4 0 768 0 Error: Maximum value for CFAR thresholdScale is 100.0 dB. Error -1 mmwDemo:/>' o:/>' ... logging to /home/wlee/.ros/log/2e0ffe68-436d-11ea-8688-d050998cebec/roslaunch-wlee-desktop-3151.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. ]2;/home/wlee/catkin_ws/src/ti_mmwave_rospkg/launch/rviz_6843_2d.launch started roslaunch server http://192.168.0.57:41319/ SUMMARY ======== PARAMETERS * /mmWave_Manager/command_port: /dev/ttyACM0 * /mmWave_Manager/command_rate: 115200 * /mmWave_Manager/data_port: /dev/ttyACM1 * /mmWave_Manager/data_rate: 921600 * /mmWave_Manager/max_allowed_azimuth_angle_deg: 90 * /mmWave_Manager/max_allowed_elevation_angle_deg: 90 * /rosdistro: kinetic * /rosversion: 1.12.14 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 [3161] ROS_MASTER_URI=http://192.168.0.57:11311 ]2;/home/wlee/catkin_ws/src/ti_mmwave_rospkg/launch/rviz_6843_2d.launch http://192.168.0.57:11311 setting /run_id to 2e0ffe68-436d-11ea-8688-d050998cebec process[rosout-1]: started with pid [3174] started core service [/rosout] process[mmWave_Manager-2]: started with pid [3187] process[mmWaveQuickConfig-3]: started with pid [3192] process[static_tf_map_to_base_radar_link-4]: started with pid [3193] process[rviz-5]: started with pid [3205] [rviz-5] killing on exit [static_tf_map_to_base_radar_link-4] killing on exit [mmWave_Manager-2] killing on exit [rosout-1] killing on exit [master] killing on exit shutting down processing monitor... ... shutting down processing monitor complete done