This thread has been locked.

If you have a related question, please click the "Ask a related question" button in the top right corner. The newly created question will be automatically linked to this question.

AWR1843AOP: TI mmWave ROS Driver, 'sensorStart' not working.

Part Number: AWR1843AOP

Similar problem here. I am using an AWR1843AoP, I have it flashed with the Out-Of-Box Demo firmware, and it works perfectly through the online visualizer. Now I am trying to make it work in ROS following this guide (dev.ti.com/.../node but in the end I keep running into the same error.

After de command 'sensorStart' the module don’t respond any data and the rospkg fails.

I’m using ROS Melodic over ubuntu 18.04 LTS in a Raspberry Pi 4. The AWR1443AoP is connected to the Raspberry by USB.

I leave below the console output.

I would appreciate any suggestions. Thank you!

----------CONSOLE OUTPUT----------

WARNING: disk usage in log directory [/home/pi/.ros/log] is over 1GB.
It's recommended that you use the 'rosclean' command.

started roslaunch server http://192.168.42.1:43353/

SUMMARY
========

PARAMETERS
 * /radar_0/ti_mmwave/command_port: /dev/ttyUSB0
 * /radar_0/ti_mmwave/command_rate: 115200
 * /radar_0/ti_mmwave/data_port: /dev/ttyUSB1
 * /radar_0/ti_mmwave/data_rate: 921600
 * /radar_0/ti_mmwave/frame_id: /ti_mmwave_0
 * /radar_0/ti_mmwave/max_allowed_azimuth_angle_deg: 90
 * /radar_0/ti_mmwave/max_allowed_elevation_angle_deg: 90
 * /radar_0/ti_mmwave/mmWaveCLI_name: /mmWaveCLI
 * /radar_0/ti_mmwave_config/mmWaveCLI_name: /mmWaveCLI
 * /rosdistro: melodic
 * /rosversion: 1.14.13

NODES
  /
    radar_baselink_0 (tf/static_transform_publisher)
    rviz (rviz/rviz)
  /radar_0/
    ti_mmwave (ti_mmwave_rospkg/ti_mmwave_rospkg)
    ti_mmwave_config (ti_mmwave_rospkg/mmWaveQuickConfig)

ROS_MASTER_URI=http://192.168.42.1:11311

process[radar_0/ti_mmwave-1]: started with pid [4534]
process[radar_0/ti_mmwave_config-2]: started with pid [4547]
process[radar_baselink_0-3]: started with pid [4554]
process[rviz-4]: started with pid [4563]
[ INFO] [1634220646.619922104]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/pi/catkin_ws/src/ti_mmwave_rospkg/cfg/1843_3d.cfg
[ INFO] [1634220646.644932882]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
[ INFO] [1634220646.646528474]: Initializing nodelet with 4 worker threads.
[ INFO] [1634220646.709235400]: mmWaveCommSrv: command_port = /dev/ttyUSB0
[ INFO] [1634220646.713097252]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1634220646.743503215]: mmWaveDataHdl: data_port = /dev/ttyUSB1
[ INFO] [1634220646.743664400]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1634220646.743728789]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1634220646.743784493]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1634220646.754832770]: waitForService: Service [/mmWaveCLI] is now available.
libEGL warning: DRI2: failed to authenticate
[ INFO] [1634220647.299114918]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1634220647.305864011]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Ignored: Sensor is already stopped
Done
mmwDemo:/>'
[ INFO] [1634220647.336104437]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ INFO] [1634220647.339268548]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Done
mmwDemo:/>'
[ INFO] [1634220647.371076251]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ INFO] [1634220647.375552400]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Done
mmwDemo:/>'
[ INFO] [1634220647.414312196]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'
[ INFO] [1634220647.419042381]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0
Done
mmwDemo:/>'
[ INFO] [1634220647.443198788]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[ INFO] [1634220647.447527270]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Done
mmwDemo:/>'
[ INFO] [1634220647.474305122]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1'
[ INFO] [1634220647.480810825]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 1
Done
mmwDemo:/>'
[ INFO] [1634220647.499443733]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 267 7 57.14 0 0 70 1 256 5209 0 0 30'
[ INFO] [1634220647.506811344]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 267 7 57.14 0 0 70 1 256 5209 0 0 30
Done
mmwDemo:/>'
[ INFO] [1634220647.608076770]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1634220647.612737862]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1634220647.637186196]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'
[ INFO] [1634220647.641854270]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4
Done
mmwDemo:/>'
[ INFO] [1634220647.678305474]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'
[ INFO] [1634220647.683664270]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2
Done
mmwDemo:/>'
[ INFO] [1634220647.711226992]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 100 1 0'
[ INFO] [1634220647.716214122]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 100 1 0
Done
mmwDemo:/>'
[ INFO] [1634220647.787241066]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0'
[ INFO] [1634220647.791404807]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 0
Done
mmwDemo:/>'
[ INFO] [1634220647.818606177]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 1 0 0 0 1'
[ INFO] [1634220647.823507010]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 1 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1634220647.860369399]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1'
[ INFO] [1634220647.865353529]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1
Done
mmwDemo:/>'
[ INFO] [1634220647.891389585]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 4 2 3 1 15 1'
[ INFO] [1634220647.898005307]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 1 0 4 2 3 1 15 1
Done
mmwDemo:/>'
[ INFO] [1634220647.926394084]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming -1 1 0.5'
[ INFO] [1634220647.931372288]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming -1 1 0.5
Done
mmwDemo:/>'
[ INFO] [1634220647.959447436]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval -1 0'
[ INFO] [1634220647.963656177]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval -1 0
Done
mmwDemo:/>'
[ INFO] [1634220648.010882603]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256'
[ INFO] [1634220648.016320936]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 0 -5 8 256
Done
mmwDemo:/>'
[ INFO] [1634220648.053400381]: mmWaveCommSrv: Sending command to sensor: 'extendedMaxVelocity -1 0'
[ INFO] [1634220648.058036066]: mmWaveCommSrv: Received response from sensor: 'extendedMaxVelocity -1 0
Done
mmwDemo:/>'
[ INFO] [1634220648.084412881]: mmWaveCommSrv: Sending command to sensor: 'lvdsStreamCfg -1 0 0 0'
[ INFO] [1634220648.089016584]: mmWaveCommSrv: Received response from sensor: 'lvdsStreamCfg -1 0 0 0
Done
mmwDemo:/>'
[ INFO] [1634220648.131705307]: mmWaveCommSrv: Sending command to sensor: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0'
[ INFO] [1634220648.141763844]: mmWaveCommSrv: Received response from sensor: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0
Done
mmwDemo:/>'
[ INFO] [1634220648.177020195]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'
[ INFO] [1634220648.183217455]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2
Done
mmwDemo:/>'
[ INFO] [1634220648.205758584]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 121 0'
[ INFO] [1634220648.211492047]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 121 0
Done
mmwDemo:/>'
[ INFO] [1634220648.240566325]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 127 4'
[ INFO] [1634220648.245759177]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 127 4
Done
mmwDemo:/>'
[ INFO] [1634220648.271868473]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 0 0'
[ INFO] [1634220648.276235492]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 0 0
Done
mmwDemo:/>'
[ INFO] [1634220648.302366825]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -1 -90 90 -90 90'
[ INFO] [1634220648.307615695]: mmWaveCommSrv: Received response from sensor: 'aoaFovCfg -1 -90 90 -90 90
Done
mmwDemo:/>'
[ INFO] [1634220648.340376306]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 0 0 8.92'
[ INFO] [1634220648.345156566]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 0 0 8.92
Done
mmwDemo:/>'
[ INFO] [1634220648.372862640]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 1 -1 1.00'
[ INFO] [1634220648.377422825]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 1 -1 1.00
Done
mmwDemo:/>'
[ INFO] [1634220648.405995547]: mmWaveCommSrv: Sending command to sensor: 'calibData 0 0 0'
[ INFO] [1634220648.409870973]: mmWaveCommSrv: Received response from sensor: 'calibData 0 0 0
Done
mmwDemo:/>'
[ INFO] [1634220648.447118436]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'
[ERROR] [1634220648.594764232]: Exception thrown while processing service call: SerialException device reports readiness to read but returned no data (device disconnected?) failed.
[ERROR] [1634220648.596190103]: Service call failed: service [/mmWaveCLI] responded with an error: SerialException device reports readiness to read but returned no data (device disconnected?) failed.
[ERROR] [1634220648.603484936]: mmWaveQuickConfig: Failed to call service mmWaveCLI
[ERROR] [1634220648.603780362]: sensorStart
[radar_0/ti_mmwave_config-2] process has died [pid 4547, exit code 1, cmd /home/pi/catkin_ws/devel/lib/ti_mmwave_rospkg/mmWaveQuickConfig /home/pi/catkin_ws/src/ti_mmwave_rospkg/cfg/1843_3d.cfg __name:=ti_mmwave_config __log:=/home/pi/.ros/log/581eb6e8-2cf7-11ec-9e86-dca632dfde7f/radar_0-ti_mmwave_config-2.log].
log file: /home/pi/.ros/log/581eb6e8-2cf7-11ec-9e86-dca632dfde7f/radar_0-ti_mmwave_config-2*.log