Tool/software:
Hello,
My team has been trying to get the ROS2 launch statement work. We are using an Ubuntu 22 VM and we can see the sensor on /dev/ttyACM0 and /dev/ttyACM1. The package builds correctly but when the 6432_Standard.py file is run using "ros2 launch 6432_Standard.py" we receive this output:
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2024-08-12-22-48-04-694362-ubuntu22-6410
[INFO] [launch]: Default logging verbosity is set to INFO
[WARNING] [launch_ros.actions.node]: Parameter file path is not a file: /home/ubuntu/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 [6413]
[INFO] [mmWaveQuickConfig-3]: process started with pid [6424]
[INFO] [ParameterParser-4]: process started with pid [6437]
[INFO] [ConfigParameterServer-1]: process started with pid [6411]
[mmWaveCommSrv-2] [INFO] [1723517284.907432691] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 7 3 0'
[mmWaveQuickConfig-3] [INFO] [1723517284.903472750] [rclcpp]:
[mmWaveQuickConfig-3]
[mmWaveQuickConfig-3] ==============================
[mmWaveQuickConfig-3] mmWave ROS Driver is starting
[mmWaveQuickConfig-3] ==============================
[mmWaveQuickConfig-3]
[mmWaveQuickConfig-3] [INFO] [1723517284.903521310] [rclcpp]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/ubuntu/mmwave_ti_ros/ros2_driver/install/ti_mmwave_rospkg/share/ti_mmwave_rospkg/cfg/6432_Standard_Compressed.cfg
[mmWaveQuickConfig-3] [INFO] [1723517284.903566811] [rclcpp]: File was opened
[mmWaveCommSrv-2] [INFO] [1723517285.909950200] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'channelCfg 7 3 0
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517285.948505507] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'chirpComnCfg 18 0 0 128 4 30 0'
[mmWaveCommSrv-2] [INFO] [1723517286.952714870] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'chirpComnCfg 18 0 0 128 4 30 0
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517286.988655359] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'chirpTimingCfg 6 28 0 90 59.75'
[mmWaveCommSrv-2] [INFO] [1723517287.993011062] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'chirpTimingCfg 6 28 0 90 59.75
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517288.028007422] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 8 0 250 1 150 0'
[mmWaveCommSrv-2] [INFO] [1723517289.032226282] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'frameCfg 8 0 250 1 150 0
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517289.068895559] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 2 0 0 0 0 0 0 0 0 0 0'
[INFO] [DataHandlerClass-5]: process started with pid [6456]
[INFO] [rviz2-6]: process started with pid [6458]
[DataHandlerClass-5] terminate called after throwing an instance of 'rclcpp::exceptions::ParameterUninitializedException'
[DataHandlerClass-5] what(): parameter 'frame_id' is not initialized
[rviz2-6] Warning: Ignoring XDG_SESSION_TYPE=wayland on Gnome. Use QT_QPA_PLATFORM=wayland to run on Wayland anyway.
[ERROR] [DataHandlerClass-5]: process has died [pid 6456, exit code -6, cmd '/home/ubuntu/mmwave_ti_ros/ros2_driver/install/ti_mmwave_rospkg/lib/ti_mmwave_rospkg/DataHandlerClass --ros-args -r __node:=DataHandlerClass --params-file /tmp/launch_params__g4q50u7 --params-file /tmp/launch_params_e2ugk5xn --params-file /tmp/launch_params_8ph08nee --params-file /tmp/launch_params_5b77ldzn'].
[mmWaveCommSrv-2] [INFO] [1723517290.073569093] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 2 0 0 0 0 0 0 0 0 0 0
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517290.110032478] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'sigProcChainCfg 64 8 2 0 4 4 0 .5'
[rviz2-6] [INFO] [1723517290.264272502] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1723517290.264875829] [rviz2]: OpenGl version: 4.5 (GLSL 4.5)
[rviz2-6] [INFO] [1723517290.319797468] [rviz2]: Stereo is NOT SUPPORTED
[mmWaveCommSrv-2] [INFO] [1723517291.114647851] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'sigProcChainCfg 64 8 2 0 4 4 0 .5
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517291.141586985] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 2 4 3 2 0 14.0 0 0.5 0 1 1 1'
[mmWaveCommSrv-2] [INFO] [1723517292.147791134] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1723517292.181247787] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -60 60 -40 40'
[mmWaveCommSrv-2] [INFO] [1723517293.184476852] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1723517293.239780704] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'rangeSelCfg 0.1 4.0'
[mmWaveCommSrv-2] [INFO] [1723517294.243584124] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'rangeSelCfg 0.1 4.0
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517294.292523720] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 1'
[mmWaveCommSrv-2] [INFO] [1723517295.299435459] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 1
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517295.344651535] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'compRangeBiasAndRxChanPhase 0.0 1.00000 0.00000 -1.00000 0.00000 1.00000 0.00000 -1.00000 0.00000 1.00000 0.00000 -1.00000 0.00000'
[mmWaveCommSrv-2] [INFO] [1723517296.361000886] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1723517296.407759688] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'adcDataSource 0 adc_data_0001_CtestAdc6Ant.bin'
[mmWaveCommSrv-2] [INFO] [1723517297.412947159] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'adcDataSource 0 adc_data_0001_CtestAdc6Ant.bin
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517297.450966479] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'adcLogging 0'
[mmWaveCommSrv-2] [INFO] [1723517298.453337283] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'adcLogging 0
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517298.495040362] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'lowPowerCfg 0'
[mmWaveCommSrv-2] [INFO] [1723517299.497379348] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'lowPowerCfg 0
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517299.540161428] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'factoryCalibCfg 1 0 40 0 0x1ff000'
[mmWaveCommSrv-2] [INFO] [1723517300.546419505] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1723517300.587309105] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'sensorPosition 0 0 1.44 0 0'
[mmWaveCommSrv-2] [INFO] [1723517301.591760961] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1723517301.638452962] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'minorStateCfg 5 4 40 8 4 30 8 8'
[mmWaveCommSrv-2] [INFO] [1723517302.646848680] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'minorStateCfg 5 4 40 8 4 30 8 8
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517302.684576047] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'clusterCfg 1 0.5 2'
[mmWaveCommSrv-2] [INFO] [1723517303.688931937] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'clusterCfg 1 0.5 2
[mmWaveCommSrv-2] '
[mmWaveCommSrv-2] [INFO] [1723517303.737674000] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'sensorStart 0 0 0 0'
[mmWaveCommSrv-2] [INFO] [1723517304.741564444] [rclcpp]: mmWaveCommSrv: Received response from sensor: 'sensorStart 0 0 0 0
[mmWaveCommSrv-2] '
[INFO] [mmWaveQuickConfig-3]: process has finished cleanly [pid 6424]
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[mmWaveCommSrv-2] [INFO] [1723517752.088884965] [rclcpp]: signal_handler(signum=2)
[ERROR] [ParameterParser-4]: process has died [pid 6437, exit code -2, cmd '/home/ubuntu/mmwave_ti_ros/ros2_driver/install/ti_mmwave_rospkg/lib/ti_mmwave_rospkg/ParameterParser --ros-args -r __node:=ParameterParser --params-file /tmp/launch_params_tv2jvile --params-file /tmp/launch_params_545_9o3a --params-file /tmp/launch_params_ap8ts9q7'].
[ConfigParameterServer-1] [INFO] [1723517752.091737964] [rclcpp]: signal_handler(signum=2)
[rviz2-6] [INFO] [1723517752.092654483] [rclcpp]: signal_handler(signum=2)
[INFO] [ConfigParameterServer-1]: process has finished cleanly [pid 6411]
[INFO] [rviz2-6]: process has finished cleanly [pid 6458]
[ERROR] [mmWaveCommSrv-2]: process[mmWaveCommSrv-2] failed to terminate '5' seconds after receiving 'SIGINT', escalating to 'SIGTERM'
[INFO] [mmWaveCommSrv-2]: sending signal 'SIGTERM' to process[mmWaveCommSrv-2]
[ERROR] [mmWaveCommSrv-2]: process has died [pid 6413, exit code -15, cmd '/home/ubuntu/mmwave_ti_ros/ros2_driver/install/ti_mmwave_rospkg/lib/ti_mmwave_rospkg/mmWaveCommSrv --ros-args -r __node:=mmWaveCommSrv --params-file /tmp/launch_params_lhh31sui --params-file /tmp/launch_params_3c9kwd72 --params-file /tmp/launch_params_5plg_1dv --params-file /tmp/launch_params_oay57i51 --params-file /tmp/launch_params_cqdzfuu7 --params-file /tmp/launch_params_5pt71q8h --params-file /tmp/launch_params_y2b062se --params-file /tmp/launch_params_a059nuvc --params-file /tmp/launch_params_omlgw0tw'].
RVIZ will launch but no data comes around any topic that is created from the launch statement.
Thank you.
