Hello;
I am using TI ROS2 drivers for IWR6843ISK-ODS in VM in ubuntu 22.04LTS (ros2 humble).
I have two questions:
1. In the README.md file (path: mmwave_ti_ros/ros2_driver/src/ti_mmwave_rospkg/) from line 76-92 the message format of point cloud is mentioned which directly outputs x,y,z values. However, I get the values in unreadable format as:
header:
stamp:
sec: 1710
nanosec: 760445000
frame_id: map
height: 1
width: 18
fields:
- name: x
offset: 0
datatype: 7
count: 1
- name: y
offset: 4
datatype: 7
count: 1
- name: z
offset: 8
datatype: 7
count: 1
- name: intensity
offset: 16
datatype: 7
count: 1
- name: velocity
offset: 20
datatype: 7
count: 1
is_bigendian: false
point_step: 32
row_step: 576
data:
- 250
- 211
- 117
- 62
- 91
- 70
- 220
- 61
- 17
- 246
- 244
- 188
- 0
- 0
- 0
- 0
- 0
- 0
- 120
- 65
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 23
- 87
- 131
- 62
- 163
- 84
- 75
- 189
- 226
- 2
- 47
- 61
- 0
- 0
- 0
- 0
- 0
- 0
- 120
- 65
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 219
- 11
- 133
- 63
- 188
- 188
- 46
- 63
- 3
- 39
- 198
- 63
- 0
- 0
- 0
- 0
- 205
- 204
- 116
- 65
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 170
- 186
- 209
- 63
- 50
- 113
- 169
- 62
- 36
- 125
- 166
- 63
- 0
- 0
- 0
- 0
- 51
- 51
- 123
- 65
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- 0
- '...'
is_dense: true
---
I made changes under guiMonitor from -1 1 0 0 0 0 0 to -1 1 1 0 0 0 0 and -1 1 2 0 0 0 0 but the output is still same.
Can you please guide on how to directly get output as mentioned in README.md file.
2. When I run the cfg file with specific parameters it doesnt output any point cloud in rviz and there is no error in the terminal window. But when the default parameters are run the pointcloud can be seen.
Parameters are:sensorStop
flushCfg
dfeDataOutputMode 1
channelCfg 15 7 0
adcCfg 2 1
adcbufCfg -1 0 1 1 1
profileCfg 0 60 7 6.3 65.77 0 0 51.22 1 256 4378 0 0 30
chirpCfg 0 0 0 0 0 0 0 1
chirpCfg 1 1 0 0 0 0 0 4
chirpCfg 2 2 0 0 0 0 0 2
frameCfg 0 2 42 0 200 1 0
lowPower 0 0
guiMonitor -1 1 0 0 0 0 0
cfarCfg -1 0 2 8 4 3 0 15 0
cfarCfg -1 1 0 4 2 3 1 15 0
multiObjBeamForming -1 1 0.5
clutterRemoval -1 0
calibDcRangeSig -1 0 -5 8 256
extendedMaxVelocity -1 0
bpmCfg -1 0 0 0
lvdsStreamCfg -1 0 0 0
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
measureRangeBiasAndRxChanPhase 0 1.0 0.2
CQRxSatMonitor 0 3 4 63 0
CQSigImgMonitor 0 127 4
analogMonitor 0 0
aoaFovCfg -1 -60 60 -60 60
cfarFovCfg -1 0 0.25 10.25
cfarFovCfg -1 1 -5.55 5.55
calibData 0 0 0
occStateMach 1 3 5 3 2 3 0 10
zoneDef 0 -0.8 0.8 0.2 1.50 -0.5 1.5
sensorStart
And output in terminal window is:pushkar@pushkar:~/ros2_ws/mmwave_ti_ros/ros2_driver/src/ti_mmwave_rospkg/launch$ ros2 launch 6843ISKODS_Occupancy_TEST.py
[INFO] [launch]: All log files can be found below /home/pushkar/.ros/log/2024-03-18-12-14-36-840582-pushkar-3868
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: /home/pushkar/ros2_ws/mmwave_ti_ros/ros2_driver/install/ti_mmwave_rospkg/share/ti_mmwave_rospkg/config/global_params.yaml/launch/*.rviz
[INFO] [mmWaveCommSrv-2]: process started with pid [3871]
[INFO] [mmWaveQuickConfig-3]: process started with pid [3873]
[INFO] [ParameterParser-4]: process started with pid [3877]
[INFO] [DataHandlerClass-5]: process started with pid [3903]
[INFO] [ConfigParameterServer-1]: process started with pid [3869]
[INFO] [rviz2-6]: process started with pid [3912]
[mmWaveQuickConfig-3] [INFO] [1710760476.992661629] [rclcpp]:
[mmWaveQuickConfig-3]
[mmWaveQuickConfig-3] ==============================
[mmWaveQuickConfig-3] mmWave ROS Driver is starting
[mmWaveQuickConfig-3] ==============================
[mmWaveQuickConfig-3]
[mmWaveQuickConfig-3] [INFO] [1710760476.992783032] [rclcpp]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/pushkar/ros2_ws/mmwave_ti_ros/ros2_driver/src/ti_mmwave_rospkg/cfg/6843ISKODS_Occupancy_TEST.cfg
[rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[mmWaveQuickConfig-3] [INFO] [1710760477.184610996] [rclcpp]: File was opened
[mmWaveCommSrv-2] [INFO] [1710760477.310130685] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[DataHandlerClass-5] [INFO] [1710760477.321025668] [rclcpp]: DataUARTHandler Read Thread: Port is open
[rviz2-6] [INFO] [1710760477.652572813] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1710760477.652717474] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-6] [INFO] [1710760477.724133246] [rviz2]: Stereo is NOT SUPPORTED
[mmWaveCommSrv-2] [INFO] [1710760478.311886155] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760478.523395343] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[ParameterParser-4] [INFO] [1710760479.349457455] [rclcpp]:
[ParameterParser-4]
[ParameterParser-4] ==============================
[ParameterParser-4] List of parameters
[ParameterParser-4] ==============================
[ParameterParser-4] Number of range samples: 256
[ParameterParser-4] Number of chirps: 42
[ParameterParser-4] f_s: 4.378 MHz
[ParameterParser-4] f_c: 61.820 GHz
[ParameterParser-4] Bandwidth: 2995.048 MHz
[ParameterParser-4] PRI: 72.770 us
[ParameterParser-4] Frame time: 200.000 ms
[ParameterParser-4] Max range: 12.812 m
[ParameterParser-4] Range resolution: 0.050 m
[ParameterParser-4] Max Doppler: +-5.553 m/s
[ParameterParser-4] Doppler resolution: 0.264 m/s
[ParameterParser-4] ==============================
[ParameterParser-4]
[mmWaveCommSrv-2] [INFO] [1710760479.534779715] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[ParameterParser-4] cannot publish data, at ./src/rmw_publish.cpp:62 during '__function__'
[ParameterParser-4] destroy_client() failed to delete datareader, at ./src/rmw_client.cpp:92 during '__function__'
[mmWaveCommSrv-2] [INFO] [1710760479.675189306] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[ERROR] [ParameterParser-4]: process has died [pid 3877, exit code -11, cmd '/home/pushkar/ros2_ws/mmwave_ti_ros/ros2_driver/install/ti_mmwave_rospkg/lib/ti_mmwave_rospkg/ParameterParser --ros-args -r __node:=ParameterParser --params-file /tmp/launch_params_s0p4yb0o --params-file /tmp/launch_params_zqowj4x0 --params-file /tmp/launch_params_mnmv6mzj'].
[mmWaveCommSrv-2] [INFO] [1710760480.677252948] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760480.857130304] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'
[mmWaveCommSrv-2] [INFO] [1710760481.861531240] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760481.964598580] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[mmWaveCommSrv-2] [INFO] [1710760482.965622777] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760483.080223695] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1'
[mmWaveCommSrv-2] [INFO] [1710760484.082605195] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760484.181013146] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 60 7 6.3 65.77 0 0 51.22 1 256 4378 0 0 30'
[mmWaveCommSrv-2] [INFO] [1710760485.185929345] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760485.287629559] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[mmWaveCommSrv-2] [INFO] [1710760486.289840070] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760486.446841201] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 4'
[mmWaveCommSrv-2] [INFO] [1710760487.449689978] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760487.573715582] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 2'
[mmWaveCommSrv-2] [INFO] [1710760488.575762316] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760488.709461581] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 42 0 200 1 0'
[mmWaveCommSrv-2] [INFO] [1710760489.715819680] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760489.870464711] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0'
[mmWaveCommSrv-2] [INFO] [1710760490.874822860] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760491.070834324] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 0 0 0 0 0'
[mmWaveCommSrv-2] [INFO] [1710760492.070917030] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760492.184903297] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 2 8 4 3 0 15 0'
[mmWaveCommSrv-2] [INFO] [1710760493.201315295] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760493.389323817] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 1 0 4 2 3 1 15 0'
[mmWaveCommSrv-2] [INFO] [1710760494.390393140] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760494.558702970] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'multiObjBeamForming -1 1 0.5'
[mmWaveCommSrv-2] [INFO] [1710760495.568333064] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760495.713746899] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval -1 0'
[mmWaveCommSrv-2] [INFO] [1710760496.713189162] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760501.991293008] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'calibDcRangeSig -1 0 -5 8 256'
[mmWaveCommSrv-2] [INFO] [1710760503.007329268] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760503.209397449] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'extendedMaxVelocity -1 0'
[mmWaveCommSrv-2] [INFO] [1710760504.219638025] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760509.670656756] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'bpmCfg -1 0 0 0'
[mmWaveCommSrv-2] [INFO] [1710760510.672694568] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760510.842180465] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'lvdsStreamCfg -1 0 0 0'
[mmWaveCommSrv-2] [INFO] [1710760511.842308846] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760517.247235112] [rclcpp]: 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'
[mmWaveCommSrv-2] [INFO] [1710760518.249873202] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760518.438815844] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'measureRangeBiasAndRxChanPhase 0 1.0 0.2'
[mmWaveCommSrv-2] [INFO] [1710760519.439859545] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760519.615221964] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'CQRxSatMonitor 0 3 4 63 0'
[mmWaveCommSrv-2] [INFO] [1710760520.616804917] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760526.003099947] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'CQSigImgMonitor 0 127 4'
[mmWaveCommSrv-2] [INFO] [1710760527.006504828] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760527.211250071] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'analogMonitor 0 0'
[mmWaveCommSrv-2] [INFO] [1710760528.232838310] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760528.430193148] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -1 -60 60 -60 60'
[mmWaveCommSrv-2] [INFO] [1710760529.442440425] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760534.736657810] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 0 0.25 10.25'
[mmWaveCommSrv-2] [INFO] [1710760535.737825558] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760535.907942493] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'cfarFovCfg -1 1 -5.55 5.55'
[mmWaveCommSrv-2] [INFO] [1710760536.908079937] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760537.054527136] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'calibData 0 0 0'
[mmWaveCommSrv-2] [INFO] [1710760538.055302084] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760538.288557074] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'occStateMach 1 3 5 3 2 3 0 10'
[mmWaveCommSrv-2] [INFO] [1710760539.292123924] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760539.464474849] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'zoneDef 0 -0.8 0.8 0.2 1.50 -0.5 1.5'
[mmWaveCommSrv-2] [INFO] [1710760540.467216528] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1710760540.620464404] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'sensorStart'
[mmWaveCommSrv-2] [INFO] [1710760541.634446204] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[INFO] [mmWaveCommSrv-2]: process has finished cleanly [pid 3871]
Could you suggest how to resolve this?
Thank you in advance.
Best regards,
Pushkar
