IWR1843BOOST: How to run Autonomous Robotics lab with my EVM.

Hello,

The ROS Driver fully supports the IWR1843BOOST EVM and you do not need a Turtlebot robot for this demo in order to get a point cloud from your EVM. Based off of your log the sensor started successfully based off of the config. Is the config file you are using simply the default one? Is the .launch file you are using unedited as well?

RScan is an object of type RadarScan (A message) that you can find defined and used in DataHandlerClass.cpp located in the src folder. Within this file you should also be able to find the section that sends the point cloud which is within the switch case of "READ_OBJ_STRUCT". Feel free to add ROS comments here via ROS_INFO and make changes to see if that portion of code is ever reached. This should help narrow down the debug process. Make sure to do catkin_make on your project after making any changes to a .cpp file.

Best Regards,

Pedrhom Nafisi 

Hi Pedrhom Nafisi, Thanks for the reply.

I am able to get the Pointcloud with ROS driver. I did following-

I changed, frame_id = /ti_mmwave_0 to frame_id = ti_mmwave_0 .

In RVIZ, PointCloud2->(Topic) /ti_mmwave/radar_scan_pcl_0

And pointcloud started apearing. May be TI Ros Driver is updated in term of msgs.

2) Now proceeding further for Autonomous Robot Lab for the same "https://dev.ti.com/tirex/explore/node?node=AC04mnRRMBdrhkYsRzjrEQ__VLyFKFf__LATEST", i did all setup. But there i am not able to find the pointcloud at all.

Any suggestion to run Autonomous Robot Lab ?

Thanks.

Update-

These are my steps-

roslaunch turtlebot_bringup minimal_single_sensor.launch mmwave_device:=1843

Use the following command to fix incorrect tag usage:
find . -iname "*.xacro" | xargs sed -i 's#<\([/]\?\)\(if\|unless\|include\|arg\|property\|macro\|insert_block\)#<\1xacro:\2#g'

started roslaunch server http://rahul-IdeaPad:44695/

SUMMARY
========

PARAMETERS
* /bumper2pointcloud/pointcloud_radius: 0.24
* /cmd_vel_mux/yaml_cfg_file: /opt/catkin_ws/sr...
* /diagnostic_aggregator/analyzers/input_ports/contains: ['Digital Input',...
* /diagnostic_aggregator/analyzers/input_ports/path: Input Ports
* /diagnostic_aggregator/analyzers/input_ports/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/input_ports/timeout: 5.0
* /diagnostic_aggregator/analyzers/input_ports/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/kobuki/contains: ['Watchdog', 'Mot...
* /diagnostic_aggregator/analyzers/kobuki/path: Kobuki
* /diagnostic_aggregator/analyzers/kobuki/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/kobuki/timeout: 5.0
* /diagnostic_aggregator/analyzers/kobuki/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/power/contains: ['Battery', 'Lapt...
* /diagnostic_aggregator/analyzers/power/path: Power System
* /diagnostic_aggregator/analyzers/power/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/power/timeout: 5.0
* /diagnostic_aggregator/analyzers/power/type: diagnostic_aggreg...
* /diagnostic_aggregator/analyzers/sensors/contains: ['Cliff Sensor', ...
* /diagnostic_aggregator/analyzers/sensors/path: Sensors
* /diagnostic_aggregator/analyzers/sensors/remove_prefix: mobile_base_nodel...
* /diagnostic_aggregator/analyzers/sensors/timeout: 5.0
* /diagnostic_aggregator/analyzers/sensors/type: diagnostic_aggreg...
* /diagnostic_aggregator/base_path:
* /diagnostic_aggregator/pub_rate: 1.0
* /mobile_base/base_frame: base_footprint
* /mobile_base/battery_capacity: 16.5
* /mobile_base/battery_dangerous: 13.2
* /mobile_base/battery_low: 14.0
* /mobile_base/cmd_vel_timeout: 0.6
* /mobile_base/device_port: /dev/kobuki
* /mobile_base/odom_frame: odom
* /mobile_base/publish_tf: True
* /mobile_base/use_imu_heading: True
* /mobile_base/wheel_left_joint_name: wheel_left_joint
* /mobile_base/wheel_right_joint_name: wheel_right_joint
* /radar_0/ti_mmwave/command_port: /dev/ttyACM0
* /radar_0/ti_mmwave/command_rate: 115200
* /radar_0/ti_mmwave/data_port: /dev/ttyACM1
* /radar_0/ti_mmwave/data_rate: 921600
* /radar_0/ti_mmwave/frame_id: ti_mmwave
* /radar_0/ti_mmwave/max_allowed_azimuth_angle_deg: 60
* /radar_0/ti_mmwave/max_allowed_elevation_angle_deg: 30
* /radar_0/ti_mmwave/mmWaveCLI_name: /mmWaveCLI
* /radar_0/ti_mmwave_config/mmWaveCLI_name: /mmWaveCLI
* /robot/name: turtlebot
* /robot/type: turtlebot
* /robot_description: <?xml version="1....
* /robot_state_publisher/publish_frequency: 5.0
* /rosdistro: melodic
* /rosversion: 1.14.13
* /use_sim_time: False

NODES
/
bumper2pointcloud (nodelet/nodelet)
cmd_vel_mux (nodelet/nodelet)
diagnostic_aggregator (diagnostic_aggregator/aggregator_node)
hector_trajectory_server (hector_trajectory_server/hector_trajectory_server)
mobile_base (nodelet/nodelet)
mobile_base_nodelet_manager (nodelet/nodelet)
radar_baselink_0 (tf/static_transform_publisher)
robot_state_publisher (robot_state_publisher/robot_state_publisher)
rviz (rviz/rviz)
tf_base_link_to_base_footprint (tf/static_transform_publisher)
/radar_0/
ti_mmwave (ti_mmwave_rospkg/ti_mmwave_rospkg)
ti_mmwave_config (ti_mmwave_rospkg/mmWaveQuickConfig)

auto-starting new master
process[master]: started with pid [193758]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 7f565c36-326c-11ed-9dcd-9cfce8f48da0
process[rosout-1]: started with pid [193769]
started core service [/rosout]
process[robot_state_publisher-2]: started with pid [193776]
process[diagnostic_aggregator-3]: started with pid [193777]
process[radar_0/ti_mmwave-4]: started with pid [193784]
[ INFO] [1662967711.633030088]: Initializing nodelet with 8 worker threads.
[ INFO] [1662967711.642742182]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1662967711.642816060]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1662967711.647783334]: mmWaveDataHdl: data_port = /dev/ttyACM1
[ INFO] [1662967711.647839038]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1662967711.647861250]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 30
[ INFO] [1662967711.647882118]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 60
process[radar_0/ti_mmwave_config-5]: started with pid [193790]
[ INFO] [1662967711.710032020]: mmWaveQuickConfig: Configuring mmWave device using config file: /opt/catkin_ws/src/mmwave_ti_ros/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1843_3d.cfg
process[radar_baselink_0-6]: started with pid [193806]
process[rviz-7]: started with pid [193812]
QStandardPaths: XDG_RUNTIME_DIR not set, defaulting to '/tmp/runtime-root'
process[hector_trajectory_server-8]: started with pid [193818]
process[tf_base_link_to_base_footprint-9]: started with pid [193825]
[ INFO] [1662967712.223623755]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1662967712.229797158]: mmWaveCommSrv: Received response from sensor: 'sensorStop
Ignored: Sensor is already stopped
Done
mmwDemo:/>'
[ INFO] [1662967712.233332882]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ INFO] [1662967712.236043207]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Done
mmwDemo:/>'
[ INFO] [1662967712.239766371]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ INFO] [1662967712.243768865]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Done
mmwDemo:/>'
[ INFO] [1662967712.247425675]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'
[ INFO] [1662967712.250976748]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0
Done
mmwDemo:/>'
[ INFO] [1662967712.254346854]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
process[mobile_base_nodelet_manager-10]: started with pid [193864]
[ INFO] [1662967712.257689799]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Done
mmwDemo:/>'
[ INFO] [1662967712.268985105]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1'
[ INFO] [1662967712.272763922]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 1
Done
mmwDemo:/>'
[ INFO] [1662967712.275928224]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 267 7 57.14 0 0 70 1 256 5209 0 0 30'
[ INFO] [1662967712.282506582]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 267 7 57.14 0 0 70 1 256 5209 0 0 30
Done
mmwDemo:/>'
[ INFO] [1662967712.293797771]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1662967712.297950396]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1662967712.301371546]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'
[ INFO] [1662967712.305555990]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 4
Done
mmwDemo:/>'
[ INFO] [1662967712.360133199]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'
[ INFO] [1662967712.364573590]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 2
Done
mmwDemo:/>'
[ INFO] [1662967712.368999304]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 100 1 0'
[ INFO] [1662967712.373392267]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 16 0 100 1 0
Done
mmwDemo:/>'
process[mobile_base-11]: started with pid [193871]
[ INFO] [1662967712.382615679]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0'
[ INFO] [1662967712.386106369]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 0
Done
mmwDemo:/>'
[ INFO] [1662967712.390766500]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 1 0 0 0 1'
[ INFO] [1662967712.396041699]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 1 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1662967712.398585473]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1'
[ INFO] [1662967712.402979679]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1
Done
mmwDemo:/>'
[ INFO] [1662967712.406426246]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 4 2 3 1 15 1'
[ INFO] [1662967712.410873020]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 1 0 4 2 3 1 15 1
Done
mmwDemo:/>'
[ INFO] [1662967712.420978336]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming -1 1 0.5'
[ INFO] [1662967712.425502454]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming -1 1 0.5
Done
mmwDemo:/>'
[ INFO] [1662967712.432908757]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval -1 0'
[ INFO] [1662967712.436615019]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval -1 0
Done
mmwDemo:/>'
[ INFO] [1662967712.441968924]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256'
[ INFO] [1662967712.446632161]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 0 -5 8 256
Done
mmwDemo:/>'
[ INFO] [1662967712.451511061]: mmWaveCommSrv: Sending command to sensor: 'extendedMaxVelocity -1 0'
[ INFO] [1662967712.455664898]: mmWaveCommSrv: Received response from sensor: 'extendedMaxVelocity -1 0
Done
mmwDemo:/>'
[ INFO] [1662967712.468390422]: mmWaveCommSrv: Sending command to sensor: 'lvdsStreamCfg -1 0 0 0'
[ INFO] [1662967712.472358632]: mmWaveCommSrv: Received response from sensor: 'lvdsStreamCfg -1 0 0 0
Done
mmwDemo:/>'
[ INFO] [1662967712.476305002]: 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'
process[bumper2pointcloud-12]: started with pid [193898]
[ INFO] [1662967712.485448986]: 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] [1662967712.491311650]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2'
[ INFO] [1662967712.496872821]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2
Done
mmwDemo:/>'
[ INFO] [1662967712.508698677]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 121 0'
[ INFO] [1662967712.513062466]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 121 0
Done
mmwDemo:/>'
[ INFO] [1662967712.517363678]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 127 4'
[ INFO] [1662967712.521282837]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 127 4
Done
mmwDemo:/>'
[ INFO] [1662967712.525856066]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 0 0'
[ INFO] [1662967712.529366894]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 0 0
Done
mmwDemo:/>'
[ INFO] [1662967712.533987192]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -1 -90 90 -90 90'
[ INFO] [1662967712.538300877]: mmWaveCommSrv: Received response from sensor: 'aoaFovCfg -1 -90 90 -90 90
Done
mmwDemo:/>'
[ INFO] [1662967712.542898992]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 0 0 8.92'
[ INFO] [1662967712.546873364]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 0 0 8.92
Done
mmwDemo:/>'
[ INFO] [1662967712.551153737]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 1 -1 1.00'
[ INFO] [1662967712.554976707]: mmWaveCommSrv: Received response from sensor: 'cfarFovCfg -1 1 -1 1.00
Done
mmwDemo:/>'
[ INFO] [1662967712.559404264]: mmWaveCommSrv: Sending command to sensor: 'calibData 0 0 0'
[ INFO] [1662967712.562502753]: mmWaveCommSrv: Received response from sensor: 'calibData 0 0 0
Done
mmwDemo:/>'
[ INFO] [1662967712.566082931]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'
[ WARN] [1662967712.585577258]: Kobuki : device does not (yet) available, is the usb connected?.
process[cmd_vel_mux-13]: started with pid [193904]
[ INFO] [1662967712.674608925]: mmWaveCommSrv: Received response from sensor: 'sensorStart
Debug: Init Calibration Status = 0x1ffe
Done
mmwDemo:/>'
[ INFO] [1662967712.695917586]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /opt/catkin_ws/src/mmwave_ti_ros/autonomous_robotics_ros/src/ti_mmwave_rospkg/cfg/1843_3d.cfg
[ INFO] [1662967712.699735326]:

==============================
List of parameters
==============================
Number of range samples: 256
Number of chirps: 16
f_s: 5.209 MHz
f_c: 79.210 GHz
Bandwidth: 3440.200 MHz
PRI: 324.140 us
Frame time: 100.000 ms
Max range: 11.154 m
Range resolution: 0.044 m
Max Doppler: +-0.973 m/s
Doppler resolution: 0.122 m/s
==============================

[ INFO] [1662967712.701612567]: DataUARTHandler Read Thread: Port is open
[ WARN] [1662967712.836108316]: Kobuki : no data stream, is kobuki turned on?
[radar_0/ti_mmwave_config-5] process has finished cleanly
log file: /root/.ros/log/7f565c36-326c-11ed-9dcd-9cfce8f48da0/radar_0-ti_mmwave_config-5*.log
[ WARN] [1662967732.077381458]: No transform between frames map and base_link available after 20.004478 seconds of waiting. This warning only prints once.
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)
QObject::connect: Cannot queue arguments of type 'QVector<int>'
(Make sure 'QVector<int>' is registered using qRegisterMetaType().)

Then running "roslaunch turtlebot_mmwave_launchers radar_mapping.launch"-

i am getting output-

process[static_tf_map_to_odom-1]: started with pid [177280]
process[pcl_manager-2]: started with pid [177281]
[ INFO] [1662966523.376216954]: Initializing nodelet with 8 worker threads.
process[x_filt-3]: started with pid [177287]
[ INFO] [1662966523.454497339]: Loading nodelet /x_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
[ INFO] [1662966523.455543838]: /x_filt/input -> /ti_mmwave/radar_scan_pcl
[ INFO] [1662966523.455559097]: /x_filt/output -> /x_filt_out
process[y_filt-4]: started with pid [177303]
[ INFO] [1662966523.593627710]: Loading nodelet /y_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
[ INFO] [1662966523.594699928]: /y_filt/input -> /x_filt_out
[ INFO] [1662966523.594720096]: /y_filt/output -> /xy_filt_out
process[z_filt-5]: started with pid [177316]
[ INFO] [1662966523.712346442]: Loading nodelet /z_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
[ INFO] [1662966523.713679791]: /z_filt/input -> /xy_filt_out
[ INFO] [1662966523.713713724]: /z_filt/output -> /xyz_filt_out
process[i_filt-6]: started with pid [177321]
[ INFO] [1662966523.829475531]: Loading nodelet /i_filt of type pcl/PassThrough to manager pcl_manager with the following remappings:
[ INFO] [1662966523.830572185]: /i_filt/input -> /xyz_filt_out
[ INFO] [1662966523.830599236]: /i_filt/output -> /xyzi_filt_out
process[octomap_raw-7]: started with pid [177330]
process[mapping_SOR_filt_mapping-8]: started with pid [177339]
[ INFO] [1662966524.091831761]: Publishing latched (single publish will take longer, all topics are prepared)
type is pcl/StatisticalOutlierRemoval
[ WARN] [1662966524.113734848]: Nothing to publish, octree is empty
process[octomap_filtered-9]: started with pid [177348]
[ INFO] [1662966524.360708566]: Publishing latched (single publish will take longer, all topics are prepared)
[ WARN] [1662966524.376596042]: Nothing to publish, octree is empty
Warning: TF_OLD_DATA ignoring data from the past for frame base_link at time 1.66297e+09 according to authority unknown_publisher
Possible reasons are listed at wiki.ros.org/.../Errors explained
at line 277 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp
[ WARN] [1662966539.129692982]: MessageFilter [target=/map ]: Dropped 100.00% of messages so far. Please turn the [ros.octomap_server.message_filter] rosconsole logger to DEBUG for more information.
[ WARN] [1662966599.139789726]: MessageFilter [target=/map ]: Dropped 100.00% of messages so far. Please turn the [ros.octomap_server.message_filter] rosconsole logger to DEBUG for more information.
[ WARN] [1662966659.149641836]: MessageFilter [target=/map ]: Dropped 100.00% of messages so far. Please turn the [ros.octomap_server.message_filter] rosconsole logger to DEBUG for more information.

[ WARN] [1662968214.817407306]: MessageFilter [target=/map ]: Dropped 100.00% of messages so far. Please turn the [ros.octomap_server.message_filter] rosconsole logger to DEBUG for more information.
[ WARN] [1662968274.827425636]: MessageFilter [target=/map ]: Dropped 100.00% of messages so far. Please turn the [ros.octomap_server.message_filter] rosconsole logger to DEBUG for more information.

Also in RVIZ, there is error for "RobotModel" -

Why i am not able to generate the map?

If i put Global_fixed_frame -> base_link, and PointCloud->/ti_mmwave/radar_scan_pcl, then raw pointclouds are there. But

If i put Global_fixed_frame -> map, then there is no pointcloud with PointCloud->/ti_mmwave/radar_scan_pcl, or PointCloud->/filtered_point_cloud_centers

Attached screenshots are for reference-

Please suggest how can i do mapping demo run....?