Tool/software:
I posted previously about an issue I experience when using ROS2: https://e2e.ti.com/support/sensors-group/sensors/f/sensors-forum/1399510/iwrl6432boost-ros2-basic-launch---no-data/5360394#5360394
I'm now getting a very similar issue when using ROS Noetic. Here are the logs:
nvidia@nvidia-desktop:~/mmwave_ti_ros/ros1_driver$ roslaunch ti_mmwave_rospkg 6432_Occupancy.launch
... logging to /home/nvidia/.ros/log/0f522164-5f55-11ef-866b-48b02dd8c0d8/roslaunch-nvidia-desktop-53164.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://nvidia-desktop:38197/
SUMMARY
========
PARAMETERS
* /radar_0/ti_mmwave/command_port: /dev/ttyACM0
* /radar_0/ti_mmwave/command_rate: 115200
* /radar_0/ti_mmwave/data_port: /dev/ttyACM0
* /radar_0/ti_mmwave/data_rate: 115200
* /radar_0/ti_mmwave/frame_id: /ti_mmwave_0
* /radar_0/ti_mmwave/max_allowed_azimuth_angle_deg: 90
* /radar_0/ti_mmwave/max_allowed_elevation_angle_deg: 90
* /radar_0/ti_mmwave/mmWaveCLI_name: /mmWaveCLI
* /radar_0/ti_mmwave_config/mmWaveCLI_name: /mmWaveCLI
* /rosdistro: noetic
* /rosversion: 1.16.0
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 [53187]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 0f522164-5f55-11ef-866b-48b02dd8c0d8
process[rosout-1]: started with pid [53202]
started core service [/rosout]
process[radar_0/ti_mmwave-2]: started with pid [53206]
process[radar_0/ti_mmwave_config-3]: started with pid [53210]
process[radar_baselink_0-4]: started with pid [53211]
process[rviz-5]: started with pid [53212]
[ INFO] [1724200441.674288927]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/nvidia/mmwave_ti_ros/ros1_driver/src/ti_mmwave_rospkg/cfg/6432_Occupancy.cfg
[ INFO] [1724200441.681257983]: waitForService: Service [/mmWaveCLI] has not been advertised, waiting...
[ INFO] [1724200441.681558032]: Initializing nodelet with 6 worker threads.
[ INFO] [1724200441.690417497]: mmWaveCommSrv: command_port = /dev/ttyACM0
[ INFO] [1724200441.690490781]: mmWaveCommSrv: command_rate = 115200
[ INFO] [1724200441.693497282]: mmWaveDataHdl: data_port = /dev/ttyACM0
[ INFO] [1724200441.693554149]: mmWaveDataHdl: data_rate = 115200
[ INFO] [1724200441.693585287]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[ INFO] [1724200441.693610569]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[ INFO] [1724200441.703564685]: waitForService: Service [/mmWaveCLI] is now available.
[ INFO] [1724200442.210476946]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[ INFO] [1724200443.212219840]: mmWaveCommSrv: Received response from sensor: 'sensorStop
'
[ INFO] [1724200443.216123799]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200443.217182097]: mmWaveQuickConfig: Response: 'sensorStop
'
[ INFO] [1724200443.220877117]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 7 3 0'
[ INFO] [1724200444.222199656]: mmWaveCommSrv: Received response from sensor: 'channelCfg 7 3 0
'
[ INFO] [1724200444.224143923]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200444.224214679]: mmWaveQuickConfig: Response: 'channelCfg 7 3 0
'
[ INFO] [1724200444.228562886]: mmWaveCommSrv: Sending command to sensor: 'chirpComnCfg 18 0 0 128 4 30 0'
[ INFO] [1724200445.232001723]: mmWaveCommSrv: Received response from sensor: 'chirpComnCfg 18 0 0 128 4 30 0
'
[ INFO] [1724200445.234027819]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200445.234090766]: mmWaveQuickConfig: Response: 'chirpComnCfg 18 0 0 128 4 30 0
'
[ INFO] [1724200445.237350369]: mmWaveCommSrv: Sending command to sensor: 'chirpTimingCfg 6 40 0 160 59.75'
[ INFO] [1724200446.240581120]: mmWaveCommSrv: Received response from sensor: 'chirpTimingCfg 6 40 0 160 59.75
'
[ INFO] [1724200446.243257299]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200446.243374937]: mmWaveQuickConfig: Response: 'chirpTimingCfg 6 40 0 160 59.75
'
[ INFO] [1724200446.248460657]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 8 0 150 1 200 0'
[ INFO] [1724200447.251347377]: mmWaveCommSrv: Received response from sensor: 'frameCfg 8 0 150 1 200 0
'
[ INFO] [1724200447.253752757]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200447.253862843]: mmWaveQuickConfig: Response: 'frameCfg 8 0 150 1 200 0
'
[ INFO] [1724200447.258732359]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 1 0 0 0 0 0'
[ INFO] [1724200448.261329005]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 1 0 0 0 0 0
'
[ INFO] [1724200448.263543398]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200448.263645676]: mmWaveQuickConfig: Response: 'guiMonitor 1 0 0 0 0 0
'
[ INFO] [1724200448.268006331]: mmWaveCommSrv: Sending command to sensor: 'sigProcChainCfg 64 2 2 0 4 4'
[ INFO] [1724200449.270682555]: mmWaveCommSrv: Received response from sensor: 'sigProcChainCfg 64 2 2 0 4 4
'
[ INFO] [1724200449.273182788]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200449.273262600]: mmWaveQuickConfig: Response: 'sigProcChainCfg 64 2 2 0 4 4
'
[ INFO] [1724200449.276452759]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 2 4 3 2 0 13.0 0 0.5 0 1 1 1'
[ INFO] [1724200450.280383121]: mmWaveCommSrv: Received response from sensor: 'cfarCfg 2 4 3 2 0 13.0 0 0.5 0 1 1 1
'
[ INFO] [1724200450.283447512]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200450.283556958]: mmWaveQuickConfig: Response: 'cfarCfg 2 4 3 2 0 13.0 0 0.5 0 1 1 1
'
[ INFO] [1724200450.288037300]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -60 60 -40 40'
[ INFO] [1724200451.290017912]: mmWaveCommSrv: Received response from sensor: 'aoaFovCfg -60 60 -40 40
'
[ INFO] [1724200451.293015068]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200451.293121666]: mmWaveQuickConfig: Response: 'aoaFovCfg -60 60 -40 40
'
[ INFO] [1724200451.296599296]: mmWaveCommSrv: Sending command to sensor: 'rangeSelCfg 0.1 4.0'
[ INFO] [1724200452.299109624]: mmWaveCommSrv: Received response from sensor: 'rangeSelCfg 0.1 4.0
'
[ INFO] [1724200452.302017783]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200452.302090331]: mmWaveQuickConfig: Response: 'rangeSelCfg 0.1 4.0
'
[ INFO] [1724200452.306089429]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 1'
[ INFO] [1724200453.307889179]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 1
'
[ INFO] [1724200453.309689661]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200453.309764290]: mmWaveQuickConfig: Response: 'clutterRemoval 1
'
[ INFO] [1724200453.313364390]: 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'
[ INFO] [1724200454.325585787]: mmWaveCommSrv: Received response from 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
'
[ INFO] [1724200454.328276974]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200454.328357522]: mmWaveQuickConfig: Response: '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
'
[ INFO] [1724200454.332493268]: mmWaveCommSrv: Sending command to sensor: 'adcDataSource 0 adc_data_0001_CtestAdc6Ant.bin'
[ INFO] [1724200455.336769836]: mmWaveCommSrv: Received response from sensor: 'adcDataSource 0 adc_data_0001_CtestAdc6Ant.bin
'
[ INFO] [1724200455.338934146]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200455.339005862]: mmWaveQuickConfig: Response: 'adcDataSource 0 adc_data_0001_CtestAdc6Ant.bin
'
[ INFO] [1724200455.342299930]: mmWaveCommSrv: Sending command to sensor: 'adcLogging 0'
[ INFO] [1724200456.344158564]: mmWaveCommSrv: Received response from sensor: 'adcLogging 0
'
[ INFO] [1724200456.346651596]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200456.346729520]: mmWaveQuickConfig: Response: 'adcLogging 0
'
[ INFO] [1724200456.350505950]: mmWaveCommSrv: Sending command to sensor: 'lowPowerCfg 0'
[ INFO] [1724200457.352017868]: mmWaveCommSrv: Received response from sensor: 'lowPowerCfg 0
'
[ INFO] [1724200457.354240901]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200457.354311369]: mmWaveQuickConfig: Response: 'lowPowerCfg 0
'
[ INFO] [1724200457.357943503]: mmWaveCommSrv: Sending command to sensor: 'factoryCalibCfg 1 0 40 0 0x1ff000'
[ INFO] [1724200458.361641673]: mmWaveCommSrv: Received response from sensor: 'factoryCalibCfg 1 0 40 0 0x1ff000
'
[ INFO] [1724200458.363708410]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200458.363794110]: mmWaveQuickConfig: Response: 'factoryCalibCfg 1 0 40 0 0x1ff000
'
[ INFO] [1724200458.368329493]: mmWaveCommSrv: Sending command to sensor: 'occStateMach 1 3 3 2 1 1 0 4'
[ INFO] [1724200459.371552780]: mmWaveCommSrv: Received response from sensor: 'occStateMach 1 3 3 2 1 1 0 4
'
[ INFO] [1724200459.373533016]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200459.373648990]: mmWaveQuickConfig: Response: 'occStateMach 1 3 3 2 1 1 0 4
'
[ INFO] [1724200459.378931773]: mmWaveCommSrv: Sending command to sensor: 'zoneDef 0 -0.4 0.4 0.05 0.7 -0.5 1.5'
[ INFO] [1724200460.382037092]: mmWaveCommSrv: Received response from sensor: 'zoneDef 0 -0.4 0.4 0.05 0.7 -0.5 1.5
'
[ INFO] [1724200460.384362754]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200460.384478761]: mmWaveQuickConfig: Response: 'zoneDef 0 -0.4 0.4 0.05 0.7 -0.5 1.5
'
[ INFO] [1724200460.388451969]: mmWaveCommSrv: Sending command to sensor: 'sensorStart 0 0 0 0'
[ INFO] [1724200461.390162546]: mmWaveCommSrv: Received response from sensor: 'sensorStart 0 0 0 0
'
[ INFO] [1724200461.392444846]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[ INFO] [1724200461.392520882]: mmWaveQuickConfig: Response: 'sensorStart 0 0 0 0
'
[ INFO] [1724200461.417030469]: mmWaveQuickConfig: mmWaveQuickConfig will now terminate. Done configuring mmWave device using config file: /home/nvidia/mmwave_ti_ros/ros1_driver/src/ti_mmwave_rospkg/cfg/6432_Occupancy.cfg
[ INFO] [1724200461.424218731]:
==============================
List of parameters
==============================
Number of range samples: -255041728
Number of chirps: 43690
f_s: 0.000 MHz
f_c: -5602.094 GHz
Bandwidth: 0.000 MHz
PRI: 0.000 us
Frame time: -0.000 ms
Max range: nan m
Range resolution: inf m
Max Doppler: +-inf m/s
Doppler resolution: inf m/s
==============================
[ INFO] [1724200461.425413196]: DataUARTHandler Read Thread: Port is open
[radar_0/ti_mmwave_config-3] process has finished cleanly
log file: /home/nvidia/.ros/log/0f522164-5f55-11ef-866b-48b02dd8c0d8/radar_0-ti_mmwave_config-3*.log
The device was reflashed with the .appimage that is found in the bin folder under ros1_driver.
