Other Parts Discussed in Thread: AWR1642
Hi
I'm working on sensor fusion project using only L515 RGB Sensor and AWR1642 radar.Using ROS I can launch both sensor but problem lying in calibration of those two sensor.
for that they give reference link Click here.
for example
roslaunch realsense2_camera rs_camera.launch camera:=cam_1 serial_no:=728312070349 filters:=spatial,temporal,pointcloud_
roslaunch realsense2_camera rs_camera.launch camera:=cam_2 serial_no:=<serial_number_2> filters:=spatial,temporal,pointcloud_
I got serial number of L515 by running in ROS and Similarly I need for AWR1642(I'll make necessary changes in ROS file)
How can I get ?
for example
when i run the script of l515 lidar
here we can see serial number of the device
when i run the script for awr1642 radarshasha@shasha:~$ roslaunch ti_mmwave_rospkg 1642es2_short_range.launch ... logging to /home/shasha/.ros/log/438907b0-005e-11ee-b9fe-5891cff01351/roslaunch-shasha-19765.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://shasha:38735/ SUMMARY ======== PARAMETERS * /rosdistro: melodic * /rosversion: 1.14.13 * /ti_mmwave/command_port: /dev/ttyACM0 * /ti_mmwave/command_rate: 115200 * /ti_mmwave/data_port: /dev/ttyACM1 * /ti_mmwave/data_rate: 921600 * /ti_mmwave/frame_id: ti_mmwave * /ti_mmwave/max_allowed_azimuth_angle_deg: 90 * /ti_mmwave/max_allowed_elevation_angle_deg: 90 NODES / mmWaveQuickConfig (ti_mmwave_rospkg/mmWaveQuickConfig) rviz (rviz/rviz) static_tf_map_to_base_radar_link (tf/static_transform_publisher) ti_mmwave (ti_mmwave_rospkg/ti_mmwave_rospkg) ROS_MASTER_URI=http://localhost:11311 process[ti_mmwave-1]: started with pid [21675] process[mmWaveQuickConfig-2]: started with pid [21693] process[static_tf_map_to_base_radar_link-3]: started with pid [21699] process[rviz-4]: started with pid [21714] [ INFO] [1685611561.571693941]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/shasha/awr1642/src/ti_mmwave_rospkg/cfg/1642es2_short_range.cfg [ INFO] [1685611561.573917847]: Initializing nodelet with 4 worker threads. [ INFO] [1685611561.581180621]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting... [ INFO] [1685611561.590439805]: mmWaveCommSrv: command_port = /dev/ttyACM0 [ INFO] [1685611561.590516372]: mmWaveCommSrv: command_rate = 115200 [ INFO] [1685611561.593667626]: mmWaveDataHdl: data_port = /dev/ttyACM1 [ INFO] [1685611561.593750406]: mmWaveDataHdl: data_rate = 921600 [ INFO] [1685611561.593770497]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90 [ INFO] [1685611561.593783915]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90 [ INFO] [1685611561.602155433]: waitForService: Service [/mmWaveCLI] is now available. [ INFO] [1685611562.107604566]: mmWaveCommSrv: Sending command to sensor: 'sensorStop' [ INFO] [1685611562.110550018]: mmWaveCommSrv: Received response from sensor: 'sensorStop Done mmwDemo:/>' [ INFO] [1685611562.113425227]: mmWaveCommSrv: Sending command to sensor: 'flushCfg' [ INFO] [1685611562.116163540]: mmWaveCommSrv: Received response from sensor: 'flushCfg Done mmwDemo:/>' [ INFO] [1685611562.122949443]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1' [ INFO] [1685611562.126641776]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1 Done mmwDemo:/>' [ INFO] [1685611562.138945389]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 3 0' [ INFO] [1685611562.142607658]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 3 0 Done mmwDemo:/>' [ INFO] [1685611562.145569032]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1' [ INFO] [1685611562.148993085]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1 Done mmwDemo:/>' [ INFO] [1685611562.154079438]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 0 1 0' [ INFO] [1685611562.157897905]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 0 1 0 Done mmwDemo:/>' [ INFO] [1685611562.160728228]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 77 39 7 57.14 0 0 70 1 256 5209 0 0 30' [ INFO] [1685611562.167273947]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 77 39 7 57.14 0 0 70 1 256 5209 0 0 30 Done mmwDemo:/>' [ INFO] [1685611562.195998688]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1' [ INFO] [1685611562.200257280]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1 Done mmwDemo:/>' [ INFO] [1685611562.212052766]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 2' [ INFO] [1685611562.216298688]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 2 Done mmwDemo:/>' [ INFO] [1685611562.225898833]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 1 16 0 33.333 1 0' [ INFO] [1685611562.230540906]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 1 16 0 33.333 1 0 Done mmwDemo:/>' [ INFO] [1685611562.251906757]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 1' [ INFO] [1685611562.255069478]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 1 Done mmwDemo:/>' [ INFO] [1685611562.259585016]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 0 0 0 0 0' [ INFO] [1685611562.264007528]: mmWaveCommSrv: Received response from sensor: 'guiMonitor -1 1 0 0 0 0 0 Done mmwDemo:/>' [ INFO] [1685611562.266946347]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 0 8 4 4 0 3072' [ INFO] [1685611562.271417441]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 0 0 8 4 4 0 3072 Done mmwDemo:/>' [ INFO] [1685611562.286596706]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 4 2 3 0 3072' [ INFO] [1685611562.291667617]: mmWaveCommSrv: Received response from sensor: 'cfarCfg -1 1 0 4 2 3 0 3072 Done mmwDemo:/>' [ INFO] [1685611562.298549248]: mmWaveCommSrv: Sending command to sensor: 'peakGrouping -1 1 0 1 1 255' [ INFO] [1685611562.304626522]: mmWaveCommSrv: Received response from sensor: 'peakGrouping -1 1 0 1 1 255 Done mmwDemo:/>' [ INFO] [1685611562.308753447]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming -1 1 0.5' [ INFO] [1685611562.313905504]: mmWaveCommSrv: Received response from sensor: 'multiObjBeamForming -1 1 0.5 Done mmwDemo:/>' [ INFO] [1685611562.330875430]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval -1 0' [ INFO] [1685611562.334770869]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval -1 0 Done mmwDemo:/>' [ INFO] [1685611562.343537338]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256' [ INFO] [1685611562.348281594]: mmWaveCommSrv: Received response from sensor: 'calibDcRangeSig -1 0 -5 8 256 Done mmwDemo:/>' [ INFO] [1685611562.350797951]: mmWaveCommSrv: Sending command to sensor: 'extendedMaxVelocity -1 0' [ INFO] [1685611562.355367782]: mmWaveCommSrv: Received response from sensor: 'extendedMaxVelocity -1 0 Done mmwDemo:/>' [ INFO] [1685611562.361980347]: mmWaveCommSrv: Sending command to sensor: 'bpmCfg -1 0 0 1' [ INFO] [1685611562.365383209]: mmWaveCommSrv: Received response from sensor: 'bpmCfg -1 0 0 1 Done mmwDemo:/>' [ INFO] [1685611562.370117834]: mmWaveCommSrv: Sending command to sensor: 'lvdsStreamCfg -1 0 0 0' [ INFO] [1685611562.374310358]: mmWaveCommSrv: Received response from sensor: 'lvdsStreamCfg -1 0 0 0 Done mmwDemo:/>' [ INFO] [1685611562.378501065]: mmWaveCommSrv: Sending command to sensor: 'nearFieldCfg -1 0 0 0' [ INFO] [1685611562.382376462]: mmWaveCommSrv: Received response from sensor: 'nearFieldCfg -1 0 0 0 Done mmwDemo:/>' [ INFO] [1685611562.387763546]: mmWaveCommSrv: Sending command to sensor: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0' [ INFO] [1685611562.395286150]: mmWaveCommSrv: Received response from sensor: 'compRangeBiasAndRxChanPhase 0.0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 1 0 Done mmwDemo:/>' [ INFO] [1685611562.401312345]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2' [ INFO] [1685611562.406950278]: mmWaveCommSrv: Received response from sensor: 'measureRangeBiasAndRxChanPhase 0 1.5 0.2 Done mmwDemo:/>' [ INFO] [1685611562.410374621]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 5 123 0' [ INFO] [1685611562.414684040]: mmWaveCommSrv: Received response from sensor: 'CQRxSatMonitor 0 3 5 123 0 Done mmwDemo:/>' [ INFO] [1685611562.418305981]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 127 4' [ INFO] [1685611562.422843003]: mmWaveCommSrv: Received response from sensor: 'CQSigImgMonitor 0 127 4 Done mmwDemo:/>' [ INFO] [1685611562.431295612]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 1 1' [ INFO] [1685611562.434831245]: mmWaveCommSrv: Received response from sensor: 'analogMonitor 1 1 Done mmwDemo:/>' [ INFO] [1685611562.450647573]: mmWaveCommSrv: Sending command to sensor: 'sensorStart' [ INFO] [1685611562.516630735]: mmWaveCommSrv: Received response from sensor: 'sensorStart Debug: Init Calibration Status = 0x7fe Done mmwDemo:/>' [ INFO] [1685611562.553256631]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/shasha/awr1642/src/ti_mmwave_rospkg/cfg/1642es2_short_range.cfg [ INFO] [1685611562.558321769]: ============================== 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: 96.140 us Frame time: 33.333 ms Max range: 11.154 m Range resolution: 0.044 m Max Doppler: +-4.921 m/s Doppler resolution: 0.615 m/s ============================== [ INFO] [1685611562.558827643]: DataUARTHandler Read Thread: Port is open 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().) [mmWaveQuickConfig-2] process has finished cleanly log file: /home/shasha/.ros/log/438907b0-005e-11ee-b9fe-5891cff01351/mmWaveQuickConfig-2*.log
I got in terminal but didn't show serial number
how can i get the serial number of awr1642
