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IWR6843ISK: getting people counting to work with ROS version 2.2

Abdullahi Oyero
Prodigy 210 points
Part Number: IWR6843ISK

Hello,

I am trying to get with people counting to work on on the latest ROS driver version 2.2 with a toolbox of version 4.12.1 following this link https://dev.ti.com/tirex/explore/node?a=AocYeEd__3.6.0&a=VLyFKFf__4.12.1&a=VLyFKFf__4.5.1&node=A__AJ5nRRClJwF8NAFYOGx37A__com.ti.mmwave_industrial_toolbox__VLyFKFf__4.12.1&r=VLyFKFf__3.2.0

on trying this the the corresponding bin file and configuration file  below 

% SDK Parameters
% See the SDK user's guide for more information
% "C:\ti\mmwave_sdk_[VER]\docs\mmwave_sdk_user_guide.pdf"
sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
lowPower 0 0

% Detection Layer Parameters
% See the Detection Layer Tuning Guide for more information
% "C:\ti\mmwave_industrial_toolbox_[VER]\labs\people_counting\docs\3D_people_counting_detection_layer_tuning_guide.pdf"
profileCfg 0 60.75 30.00 25.00 59.10 657930 0 54.71 1 96 2950.00 2 1 36
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 2
chirpCfg 2 2 0 0 0 0 0 4
frameCfg 0 2 96 0 55.00 1 0
dynamicRACfarCfg -1 4 4 2 2 8 12 4 8 5.00 8.00 0.40 1 1
staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0
dynamicRangeAngleCfg -1 0.75 0.0010 1 0
dynamic2DAngleCfg -1 3 0.0300 1 0 1 0.50 0.85 8.00
staticRangeAngleCfg -1 0 8 8
antGeometry0 0 -0 -1 -1 -2 -2 -3 -3 -2 -2 -3 -3
antGeometry1 0 -1 -1 0 0 -1 -1 0 -2 -3 -3 -2
antPhaseRot 1 -1 -1 1 1 -1 -1 1 1 -1 -1 1
fovCfg -1 70.0 20.0
compRangeBiasAndRxChanPhase 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

% Tracker Layer Parameters
% See the Tracking Layer Tuning Guide for more information
% "C:\ti\mmwave_industrial_toolbox_[VER]\labs\people_counting\docs\3D_people_counting_tracker_layer_tuning_guide.pdf"
staticBoundaryBox -3 3 0.5 7.5 0 3
boundaryBox -4 4 0 8 0 3
sensorPosition 2 0 15
gatingParam 3 2 2 2 4
stateParam 3 3 6 500 5 6000
allocationParam 40 100 0.1 20 0.5 20
maxAcceleration 0.1 0.1 0.1
trackingCfg 1 2 10001 30 46 96 55
presenceBoundaryBox -4 4 0.5 6 0 3
sensorStart
I get the following Info and the LED does not turn on nor blink
[17:19, 21/06/2023] Nati Zyrab: 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)

auto-starting new master
process[master]: started with pid [8900]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to 66657c1a-104d-11ee-8085-48b02d51f7aa
process[rosout-1]: started with pid [8916]
started core service [/rosout]
process[radar_0/ti_mmwave-2]: started with pid [8919]
process[radar_0/ti_mmwave_config-3]: started with pid [8920]
process[radar_baselink_0-4]: started with pid [8921]
process[rviz-5]: started with pid [8941]
[ INFO] [1687363516.141204734]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/hm/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/6843_3d.cfg
[ INFO] [1687363516.148411059]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
[ INFO] [1687363516.375158637]: Initializing nodelet with 4 worker threads.
[ INFO] [1687363516.405879417]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1687363516.405982965]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1687363516.412387002]: waitForService: Service [/mmWaveCLI] is now available.
[ INFO] [1687363516.422238019]: mmWaveDataHdl: data_port = /dev/ttyACM1
[ INFO] [1687363516.422338129]: mmWaveDataHdl: data_rate = 921600
[ INFO] [1687363516.422401414]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1687363516.422452459]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1687363516.920397359]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1687363516.928089390]: mmWaveCommSrv: Received response from sensor: 'sensorStop
'?`????`????`???~' is not recognized as a CLI command
mmwDemo:/>'
[ INFO] [1687363516.943435483]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1687363516.943996610]: mmWaveQuickConfig: Response: 'sensorStop
'?`????`????`???~' is not recognized as a CLI command
mmwDemo:/>'
[ INFO] [1687363516.950214958]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ INFO] [1687363516.953078727]: mmWaveCommSrv: Received response from sensor: 'flushCfg
Done
mmwDemo:/>'
[ INFO] [1687363516.982329000]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ INFO] [1687363516.986209237]: mmWaveCommSrv: Received response from sensor: 'dfeDataOutputMode 1
Done
mmwDemo:/>'
[ INFO] [1687363517.001962177]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'
[ INFO] [1687363517.005605679]: mmWaveCommSrv: Received response from sensor: 'channelCfg 15 7 0
Done
mmwDemo:/>'
[ INFO] [1687363517.025548216]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[ INFO] [1687363517.028688351]: mmWaveCommSrv: Received response from sensor: 'adcCfg 2 1
Done
mmwDemo:/>'
[ INFO] [1687363517.045987660]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1'
[ INFO] [1687363517.050008576]: mmWaveCommSrv: Received response from sensor: 'adcbufCfg -1 0 1 1 1
Done
mmwDemo:/>'
[ INFO] [1687363517.067151938]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0'
[ INFO] [1687363517.070885858]: mmWaveCommSrv: Received response from sensor: 'lowPower 0 0
Done
mmwDemo:/>'
[ INFO] [1687363517.095027345]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 60.75 30.00 25.00 59.10 657930 0 54.71 1 96 2950.00 2 1 36 '
[ INFO] [1687363517.103527485]: mmWaveCommSrv: Received response from sensor: 'profileCfg 0 60.75 30.00 25.00 59.10 657930 0 54.71 1 96 2950.00 2 1 36
Done
mmwDemo:/>'
[ INFO] [1687363517.118612757]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[ INFO] [1687363517.128600902]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 0 0 0 0 0 0 0 1
Done
mmwDemo:/>'
[ INFO] [1687363517.144316628]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 2'
[ INFO] [1687363517.148585319]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 1 1 0 0 0 0 0 2
Done
mmwDemo:/>'
[ INFO] [1687363517.167574937]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 4'
[ INFO] [1687363517.171994678]: mmWaveCommSrv: Received response from sensor: 'chirpCfg 2 2 0 0 0 0 0 4
Done
mmwDemo:/>'
[ INFO] [1687363517.188064644]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 96 0 55.00 1 0'
[ INFO] [1687363517.193042700]: mmWaveCommSrv: Received response from sensor: 'frameCfg 0 2 96 0 55.00 1 0
Done
mmwDemo:/>'
[ INFO] [1687363517.217390449]: mmWaveCommSrv: Sending command to sensor: 'dynamicRACfarCfg -1 4 4 2 2 8 12 4 8 5.00 8.00 0.40 1 1'
[ INFO] [1687363517.224115327]: mmWaveCommSrv: Received response from sensor: 'dynamicRACfarCfg -1 4 4 2 2 8 12 4 8 5.00 8.00 0.40 1 1
Done
mmwDemo:/>'
[ INFO] [1687363517.245770000]: mmWaveCommSrv: Sending command to sensor: 'staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0'
[ INFO] [1687363517.253047099]: mmWaveCommSrv: Received response from sensor: 'staticRACfarCfg -1 6 2 2 2 8 8 6 4 8.00 15.00 0.30 0 0
Done
mmwDemo:/>'
[ INFO] [1687363517.276705848]: mmWaveCommSrv: Sending command to sensor: 'dynamicRangeAngleCfg -1 0.75 0.0010 1 0'
[ INFO] [1687363517.282046686]: mmWaveCommSrv: Received response from sensor: 'dynamicRangeAngleCfg -1 0.75 0.0010 1 0
Done
mmwDemo:/>'
[ INFO] [1687363517.302204030]: mmWaveCommSrv: Sending command to sensor: 'dynamic2DAngleCfg -1 3 0.0300 1 0 1 0.50 0.85 8.00'
[ INFO] [1687363517.308740043]: mmWaveCommSrv: Received response from sensor: 'dynamic2DAngleCfg -1 3 0.0300 1 0 1 0.50 0.85 8.00
Done
mmwDemo:/>'
[ INFO] [1687363517.324563327]: mmWaveCommSrv: Sending command to sensor: 'staticRangeAngleCfg -1 0 8 8'
[ INFO] [1687363517.329368196]: mmWaveCommSrv: Received response from sensor: 'staticRangeAngleCfg -1 0 8 8
Done
mmwDemo:/>'
[ INFO] [1687363517.347220715]: mmWaveCommSrv: Sending command to sensor: 'antGeometry0 0 -0 -1 -1 -2 -2 -3 -3 -2 -2 -3 -3'
[ INFO] [1687363517.353588021]: mmWaveCommSrv: Received response from sensor: 'antGeometry0 0 -0 -1 -1 -2 -2 -3 -3 -2 -2 -3 -3
Done
mmwDemo:/>'
[ INFO] [1687363517.378757276]: mmWaveCommSrv: Sending command to sensor: 'antGeometry1 0 -1 -1 0 0 -1 -1 0 -2 -3 -3 -2'
[ INFO] [1687363517.384783572]: mmWaveCommSrv: Received response from sensor: 'antGeometry1 0 -1 -1 0 0 -1 -1 0 -2 -3 -3 -2
Done
mmwDemo:/>'
[ INFO] [1687363517.409059129]: mmWaveCommSrv: Sending command to sensor: 'antPhaseRot 1 -1 -1 1 1 -1 -1 1 1 -1 -1 1'
[ INFO] [1687363517.414964219]: mmWaveCommSrv: Received response from sensor: 'antPhaseRot 1 -1 -1 1 1 -1 -1 1 1 -1 -1 1
Done
mmwDemo:/>'
[ INFO] [1687363517.433657466]: mmWaveCommSrv: Sending command to sensor: 'fovCfg -1 70.0 20.0'
[ INFO] [1687363517.437556083]: mmWaveCommSrv: Received response from sensor: 'fovCfg -1 70.0 20.0
Done
mmwDemo:/>'
[ INFO] [1687363517.455020297]: mmWaveCommSrv: Sending command to sensor: 'compRangeBiasAndRxChanPhase 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] [1687363517.464122870]: mmWaveCommSrv: Received response from sensor: 'compRangeBiasAndRxChanPhase 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] [1687363517.488055958]: mmWaveCommSrv: Sending command to sensor: 'staticBoundaryBox -3 3 0.5 7.5 0 3'
[ INFO] [1687363517.493237204]: mmWaveCommSrv: Received response from sensor: 'staticBoundaryBox -3 3 0.5 7.5 0 3
Done
mmwDemo:/>'
[ INFO] [1687363517.511017323]: mmWaveCommSrv: Sending command to sensor: 'boundaryBox -4 4 0 8 0 3'
[ INFO] [1687363517.515252522]: mmWaveCommSrv: Received response from sensor: 'boundaryBox -4 4 0 8 0 3
Done
mmwDemo:/>'
[ INFO] [1687363517.532636159]: mmWaveCommSrv: Sending command to sensor: 'sensorPosition 2 0 15'
[ INFO] [1687363517.536712339]: mmWaveCommSrv: Received response from sensor: 'sensorPosition 2 0 15
Done
mmwDemo:/>'
[ INFO] [1687363517.554649342]: mmWaveCommSrv: Sending command to sensor: 'gatingParam 3 2 2 2 4'
[ INFO] [1687363517.558754274]: mmWaveCommSrv: Received response from sensor: 'gatingParam 3 2 2 2 4
Done
mmwDemo:/>'
[ INFO] [1687363517.575536833]: mmWaveCommSrv: Sending command to sensor: 'stateParam 3 3 6 500 5 6000'
[ INFO] [1687363517.580056529]: mmWaveCommSrv: Received response from sensor: 'stateParam 3 3 6 500 5 6000
Done
mmwDemo:/>'
[ INFO] [1687363517.597046757]: mmWaveCommSrv: Sending command to sensor: 'allocationParam 40 100 0.1 20 0.5 20'
[ INFO] [1687363517.602388481]: mmWaveCommSrv: Received response from sensor: 'allocationParam 40 100 0.1 20 0.5 20
Done
mmwDemo:/>'
[ INFO] [1687363517.622034232]: mmWaveCommSrv: Sending command to sensor: 'maxAcceleration 0.1 0.1 0.1'
[ INFO] [1687363517.626576897]: mmWaveCommSrv: Received response from sensor: 'maxAcceleration 0.1 0.1 0.1
Done
mmwDemo:/>'
[ INFO] [1687363517.641819938]: mmWaveCommSrv: Sending command to sensor: 'trackingCfg 1 2 10001 30 46 96 55'
[ INFO] [1687363517.647476993]: mmWaveCommSrv: Received response from sensor: 'trackingCfg 1 2 10001 30 46 96 55
Done
mmwDemo:/>'
[ INFO] [1687363517.664016309]: mmWaveCommSrv: Sending command to sensor: 'presenceBoundaryBox -4 4 0.5 6 0 3'
[ INFO] [1687363517.669189221]: mmWaveCommSrv: Received response from sensor: 'presenceBoundaryBox -4 4 0.5 6 0 3
Done
mmwDemo:/>'
[ INFO] [1687363517.684778012]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'
[ INFO] [1687363518.788715849]: mmWaveCommSrv: Received response from sensor: 'sensorStart
Debug: Init Calibration Status = 0xffe
'
[ INFO] [1687363518.798552773]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1687363518.798659966]: mmWaveQuickConfig: Response: 'sensorStart
Debug: Init Calibration Status = 0xffe
'
[ INFO] [1687363518.907845819]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/hm/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/6843_3d.cfg
[ INFO] [1687363518.966675996]:

==============================
List of parameters
==============================
Number of range samples: -628247376
Number of chirps: 127
f_s: -0.000 MHz
f_c: -inf GHz
Bandwidth: -0.000 MHz
PRI: 0.000 us
Frame time: -0.000 ms
Max range: nan m
Range resolution: -inf m
Max Doppler: +-nan m/s
Doppler resolution: nan m/s
==============================
[17:20, 21/06/2023] Nati Zyrab: mmwDemo:/>'
[ INFO] [1687363516.943435483]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1687363516.943996610]: mmWaveQuickConfig: Response: 'sensorStop
'?`????`????`???~' is not recognized as a CLI command
mmwDemo:/>'
[17:20, 21/06/2023] Nati Zyrab: [ INFO] [1687363518.798552773]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1687363518.798659966]: mmWaveQuickConfig: Response: 'sensorStart
Debug: Init Calibration Status = 0xffe
'
[ INFO] [1687363518.907845819]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/hm/mmwave_ti_ros/ros_driver/src/ti_mmwave_rospkg/cfg/6843_3d.cfg
[ INFO] [1687363518.966675996]:
note: this configuration file worked with the previous ROS version  and the ROS version 2.2 demo works perfectly
Regards Abdullah
  • 0
    TI__Mastermind 23177 points

    Hello Abdullah,

    So you have flashed the 3d_people_counting binary in the tracking ros bin folder? And can you test it with the AOP_3d_Tracking.cfg parameters if you want to use ROS + Tracking TLV? To have it work for ISK, change the antenna parameters to this:

    antGeometry0 0 -1 -2 -3 -2 -3 -4 -5 -4 -5 -6 -7
    antGeometry1 -1 -1 -1 -1 0 0 0 0 -1 -1 -1 -1
    antPhaseRot 1 1 1 1 1 1 1 1 1 1 1 1

    Best Regards,

    Pedrhom

  • +1 in reply to Pedrhom Nafisi
    Prodigy 210 points

    hello Pedrhom,

     thanks for the reply

    upon following your directory  I got this error

    process[rviz-5]: started with pid [32369]
    [ INFO] [1687451431.555803082]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/hm/mmwave_ti_ros/ros_driver/src/ti_mmwave_tracker_rospkg/cfg/AOP_3d_Tracking.cfg
    [ INFO] [1687451431.598444464]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
    [ INFO] [1687451431.600526004]: Initializing nodelet with 4 worker threads.
    [ INFO] [1687451431.658584582]: mmWaveCommSrv: command_port = /dev/ttyUSB0
    [ INFO] [1687451431.658754845]: mmWaveCommSrv: command_rate = 115200
    [ INFO] [1687451431.684188016]: mmWaveDataHdl: data_port = /dev/ttyUSB1
    [ INFO] [1687451431.684334424]: mmWaveDataHdl: data_rate = 921600
    [ INFO] [1687451431.684703232]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
    [ INFO] [1687451431.684812556]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
    [ INFO] [1687451431.693699192]: waitForService: Service [/mmWaveCLI] is now available.
    [ INFO] [1687451432.208667489]: mmWaveCommSrv: Failed to open User serial port with error: IO Exception (2): No such file or directory, file /home/hm/mmwave_ti_ros/ros_driver/src/serial/src/impl/unix.cc, line 151.
    [ INFO] [1687451432.208790147]: mmWaveCommSrv: Waiting 20 seconds before trying again...
    [ERROR] [1687451452.209151159]: mmWaveCommSrv: Failed second time to open User serial port, error: IO Exception (2): No such file or directory, file /home/hm/mmwave_ti_ros/ros_driver/src/serial/src/impl/unix.cc, line 151.
    [ERROR] [1687451452.209316526]: mmWaveCommSrv: Port could not be opened. Port is "/dev/ttyUSB0" and baud rate is 115200
    [ERROR] [1687451452.210123412]: mmWaveQuickConfig: Failed to call service mmWaveCLI
    [ERROR] [1687451452.210219299]: sensorStop
    [radar_1/ti_mmwave_config-3] process has died [pid 32362, exit code 1, cmd /home/hm/mmwave_ti_ros/ros_driver/devel/lib/ti_mmwave_tracker_rospkg/mmWaveQuickConfigTracker /home/hm/mmwave_ti_ros/ros_driver/src/ti_mmwave_tracker_rospkg/cfg/AOP_3d_Tracking.cfg __name:=ti_mmwave_config __log:=/home/hm/.ros/log/1993e534-111a-11ee-a35e-48b02d51f7aa/radar_1-ti_mmwave_config-3.log].
    log file: /home/hm/.ros/log/1993e534-111a-11ee-a35e-48b02d51f7aa/radar_1-ti_mmwave_config-3*.log
    ^C[rviz-5] killing on exit
    [radar_baselink_1-4] killing on exit
    [radar_1/ti_mmwave-2] killing on exit
    [radar_1/ti_mmwave-2] escalating to SIGTERM
    [rosout-1] killing on exit
    [master] killing on exit
    shutting down processing monitor...
    ... shutting down processing monitor complete

    Regards 

    Abdullah