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IWRL6432BOOST: Fail the CLI command while launching the script in ROS2 Noetic

Jimbo Lo
Prodigy 10 points
Part Number: IWRL6432BOOST


Tool/software:

Hi,

I am using ti_mmwave_ros2_pkg and vendor provide cfg file an error when send the “baudRate 125000” command. How to solve it?

[INFO] [launch]: All log files can be found below /home/jimbo/.ros/log/2025-06-26-09-24-12-451117-jimbo-VirtualBox-81536
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mmwave_comm_srv_node-1]: process started with pid [81538]
[INFO] [mmWaveQuickConfig-2]: process started with pid [81540]
[INFO] [static_transform_publisher-3]: process started with pid [81542]
[mmWaveQuickConfig-2] mmWaveQuickConfig: Configuring mmWave device using config file: /home/jimbo/ti/mmwave_ti_ros2/install/ti_mmwave_ros2_pkg/share/ti_mmwave_ros2_pkg/cfg/MT5C01-02R1_PresenceDetect_7.5m.cfg
[mmwave_comm_srv_node-1] [INFO] [1750901052.551022040] [mmWaveCommSrvNode]: mmWaveCommSrv: command_port = /dev/ttyUSB0
[mmwave_comm_srv_node-1] [INFO] [1750901052.551128020] [mmWaveCommSrvNode]: mmWaveCommSrv: command_rate = 115200
[mmwave_comm_srv_node-1] [INFO] [1750901052.551633197] [mmWaveCommSrvNode]: mmWaveCommsrv: Finished onInit function
[mmWaveQuickConfig-2] mmWaveCLIName : /mmWaveCLI
[mmWaveQuickConfig-2] [WARN] [1750901052.554060044] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
[static_transform_publisher-3] [INFO] [1750901052.554079059] [static_transform_publisher_IY717eyZvi1oMc5m]: Spinning until killed publishing transform from 'ti_mmwave_pcl ' to 'ti_mmwave_0'
[mmWaveQuickConfig-2] ParameterParser - client_name : /mmWaveCommSrvNode
[mmWaveQuickConfig-2] request->comm : sensorStop 0
[mmwave_comm_srv_node-1] [INFO] [1750901053.118743471] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'sensorStop 0'
[mmwave_comm_srv_node-1] [INFO] [1750901053.129299872] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'sensorStop 0
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : sensorStop 0
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : channelCfg 7 3 0
[mmwave_comm_srv_node-1] [INFO] [1750901053.196795379] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 7 3 0'
[mmwave_comm_srv_node-1] [INFO] [1750901053.207782229] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'channelCfg 7 3 0
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : channelCfg 7 3 0
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : chirpComnCfg 18 0 0 128 4 30 0
[mmwave_comm_srv_node-1] [INFO] [1750901053.273705930] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'chirpComnCfg 18 0 0 128 4 30 0'
[mmwave_comm_srv_node-1] [INFO] [1750901053.288207179] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'chirpComnCfg 18 0 0 128 4 30 0
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Warning: The non-standard ADC Sampling Rates are not validated in TI for spur performance
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : chirpComnCfg 18 0 0 128 4 30 0
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Warning: The non-standard ADC Sampling Rates are not validated in TI for spur performance
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : chirpTimingCfg 6 28 0 50 60.1
[mmwave_comm_srv_node-1] [INFO] [1750901053.357077108] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'chirpTimingCfg 6 28 0 50 60.1'
[mmwave_comm_srv_node-1] [INFO] [1750901053.367738726] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'chirpTimingCfg 6 28 0 50 60.1
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : chirpTimingCfg 6 28 0 50 60.1
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : frameCfg 8 0 403 1 100 0
[mmwave_comm_srv_node-1] [INFO] [1750901053.441154140] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 8 0 403 1 100 0'
[mmwave_comm_srv_node-1] [INFO] [1750901053.451782303] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'frameCfg 8 0 403 1 100 0
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : frameCfg 8 0 403 1 100 0
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : guiMonitor 2 2 0 0 0 1 1 0 0 0 0
[mmwave_comm_srv_node-1] [INFO] [1750901053.517730197] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor 2 2 0 0 0 1 1 0 0 0 0'
[mmwave_comm_srv_node-1] [INFO] [1750901053.528441472] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'guiMonitor 2 2 0 0 0 1 1 0 0 0 0
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : guiMonitor 2 2 0 0 0 1 1 0 0 0 0
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : sigProcChainCfg 64 8 2 0 4 4 0 .5
[mmwave_comm_srv_node-1] [INFO] [1750901053.595417735] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'sigProcChainCfg 64 8 2 0 4 4 0 .5'
[mmwave_comm_srv_node-1] [INFO] [1750901053.608424107] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'sigProcChainCfg 64 8 2 0 4 4 0 .5
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : sigProcChainCfg 64 8 2 0 4 4 0 .5
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : cfarCfg 2 4 3 2 0 10.0 0 0.5 0 1 1 1
[mmwave_comm_srv_node-1] [INFO] [1750901053.676115816] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg 2 4 3 2 0 10.0 0 0.5 0 1 1 1'
[mmwave_comm_srv_node-1] [INFO] [1750901053.688692878] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'cfarCfg 2 4 3 2 0 10.0 0 0.5 0 1 1 1
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : cfarCfg 2 4 3 2 0 10.0 0 0.5 0 1 1 1
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : aoaFovCfg -70 70 -40 40
[mmwave_comm_srv_node-1] [INFO] [1750901053.757590986] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'aoaFovCfg -70 70 -40 40'
[mmwave_comm_srv_node-1] [INFO] [1750901053.768496162] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'aoaFovCfg -70 70 -40 40
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : aoaFovCfg -70 70 -40 40
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : rangeSelCfg 0.1 7.5
[mmwave_comm_srv_node-1] [INFO] [1750901053.833616320] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'rangeSelCfg 0.1 7.5'
[mmwave_comm_srv_node-1] [INFO] [1750901053.844251882] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'rangeSelCfg 0.1 7.5
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : rangeSelCfg 0.1 7.5
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : clutterRemoval 1
[mmwave_comm_srv_node-1] [INFO] [1750901053.913001257] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'clutterRemoval 1'
[mmwave_comm_srv_node-1] [INFO] [1750901053.923718299] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'clutterRemoval 1
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : clutterRemoval 1
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : antGeometryCfg 0 2 1 1 0 0 0 3 1 2 0 1 2.5 2.5
[mmwave_comm_srv_node-1] [INFO] [1750901053.990958708] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'antGeometryCfg 0 2 1 1 0 0 0 3 1 2 0 1 2.5 2.5'
[mmwave_comm_srv_node-1] [INFO] [1750901054.004724597] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'antGeometryCfg 0 2 1 1 0 0 0 3 1 2 0 1 2.5 2.5
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : antGeometryCfg 0 2 1 1 0 0 0 3 1 2 0 1 2.5 2.5
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : 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
[mmwave_comm_srv_node-1] [INFO] [1750901054.073002981] [mmWaveCommSrvNode]: 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'
[mmwave_comm_srv_node-1] [INFO] [1750901054.088802121] [mmWaveCommSrvNode]: 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
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : 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
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : adcDataSource 0 adc_data_0001_CtestAdc6Ant.bin
[mmwave_comm_srv_node-1] [INFO] [1750901054.162313605] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'adcDataSource 0 adc_data_0001_CtestAdc6Ant.bin'
[mmwave_comm_srv_node-1] [INFO] [1750901054.173343199] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'adcDataSource 0 adc_data_0001_CtestAdc6Ant.bin
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : adcDataSource 0 adc_data_0001_CtestAdc6Ant.bin
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : adcLogging 0
[mmwave_comm_srv_node-1] [INFO] [1750901054.243578297] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'adcLogging 0'
[mmwave_comm_srv_node-1] [INFO] [1750901054.256848196] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'adcLogging 0
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : adcLogging 0
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : lowPowerCfg 1
[mmwave_comm_srv_node-1] [INFO] [1750901054.322120281] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'lowPowerCfg 1'
[mmwave_comm_srv_node-1] [INFO] [1750901054.333886341] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'lowPowerCfg 1
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : lowPowerCfg 1
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : factoryCalibCfg 1 0 40 10 0x1ff000
[mmwave_comm_srv_node-1] [INFO] [1750901054.409292373] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'factoryCalibCfg 1 0 40 10 0x1ff000'
[mmwave_comm_srv_node-1] [INFO] [1750901054.420649206] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'factoryCalibCfg 1 0 40 10 0x1ff000
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : factoryCalibCfg 1 0 40 10 0x1ff000
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : mpdBoundaryBox 1 0 1.48 0 1.95 0 3
[mmwave_comm_srv_node-1] [INFO] [1750901054.494745893] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'mpdBoundaryBox 1 0 1.48 0 1.95 0 3'
[mmwave_comm_srv_node-1] [INFO] [1750901054.505616131] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'mpdBoundaryBox 1 0 1.48 0 1.95 0 3
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : mpdBoundaryBox 1 0 1.48 0 1.95 0 3
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : mpdBoundaryBox 2 0 1.48 1.95 3.9 0 3
[mmwave_comm_srv_node-1] [INFO] [1750901054.575878738] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'mpdBoundaryBox 2 0 1.48 1.95 3.9 0 3'
[mmwave_comm_srv_node-1] [INFO] [1750901054.586123295] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'mpdBoundaryBox 2 0 1.48 1.95 3.9 0 3
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : mpdBoundaryBox 2 0 1.48 1.95 3.9 0 3
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : mpdBoundaryBox 3 -1.48 0 0 1.95 0 3
[mmwave_comm_srv_node-1] [INFO] [1750901054.647436467] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'mpdBoundaryBox 3 -1.48 0 0 1.95 0 3'
[mmwave_comm_srv_node-1] [INFO] [1750901054.658349133] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'mpdBoundaryBox 3 -1.48 0 0 1.95 0 3
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : mpdBoundaryBox 3 -1.48 0 0 1.95 0 3
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : mpdBoundaryBox 4 -1.48 0 1.95 3.9 0 3
[mmwave_comm_srv_node-1] [INFO] [1750901054.729594054] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'mpdBoundaryBox 4 -1.48 0 1.95 3.9 0 3'
[mmwave_comm_srv_node-1] [INFO] [1750901054.740506437] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'mpdBoundaryBox 4 -1.48 0 1.95 3.9 0 3
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : mpdBoundaryBox 4 -1.48 0 1.95 3.9 0 3
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : sensorPosition 0 0 1.44 0 0
[mmwave_comm_srv_node-1] [INFO] [1750901054.807582632] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'sensorPosition 0 0 1.44 0 0'
[mmwave_comm_srv_node-1] [INFO] [1750901054.819356749] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'sensorPosition 0 0 1.44 0 0
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : sensorPosition 0 0 1.44 0 0
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : minorStateCfg 5 4 40 8 4 30 8 8
[mmwave_comm_srv_node-1] [INFO] [1750901054.886717480] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'minorStateCfg 5 4 40 8 4 30 8 8'
[mmwave_comm_srv_node-1] [INFO] [1750901054.897742545] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'minorStateCfg 5 4 40 8 4 30 8 8
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : minorStateCfg 5 4 40 8 4 30 8 8
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : clusterCfg 1 0.5 2
[mmwave_comm_srv_node-1] [INFO] [1750901054.975696127] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'clusterCfg 1 0.5 2'
[mmwave_comm_srv_node-1] [INFO] [1750901054.986649602] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'clusterCfg 1 0.5 2
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] Done
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] mmwDemo:/>'
[mmWaveQuickConfig-2] result->resp : clusterCfg 1 0.5 2
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] Done
[mmWaveQuickConfig-2]
[mmWaveQuickConfig-2] mmwDemo:/>
[mmWaveQuickConfig-2] request->comm : baudRate 1250000
[mmwave_comm_srv_node-1] [INFO] [1750901055.054240373] [mmWaveCommSrvNode]: mmWaveCommSrv: Sending command to sensor: 'baudRate 1250000'
[INFO] [rviz2-4]: process started with pid [81574]
[rviz2-4] [INFO] [1750901055.850485806] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1750901055.851190647] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-4] [INFO] [1750901055.907990688] [rviz2]: Stereo is NOT SUPPORTED
[mmwave_comm_srv_node-1] [INFO] [1750901056.064105579] [mmWaveCommSrvNode]: mmWaveCommSrv: Received response from sensor: 'baudRate 1250000
[mmwave_comm_srv_node-1]
[mmwave_comm_srv_node-1] ��'
[mmWaveQuickConfig-2] [ERROR] [1750901056.093010297] [mmwave_quick_config]: mmWaveQuickConfig: Command failed (mmWave sensor did not respond with 'Done')
[mmWaveQuickConfig-2] [ERROR] [1750901056.093153433] [mmwave_quick_config]: mmWaveQuickConfig: Response: 'P��UV'
[ERROR] [mmWaveQuickConfig-2]: process has died [pid 81540, exit code 1, cmd '/home/jimbo/ti/mmwave_ti_ros2/install/ti_mmwave_ros2_pkg/lib/ti_mmwave_ros2_pkg/mmWaveQuickConfig /home/jimbo/ti/mmwave_ti_ros2/install/ti_mmwave_ros2_pkg/share/ti_mmwave_ros2_pkg/cfg/MT5C01-02R1_PresenceDetect_7.5m.cfg --ros-args -r __node:=mmwave_quick_config --params-file /tmp/launch_params_4e87uvtt'].
[INFO] [component_container-5]: process started with pid [81636]
[component_container-5] [INFO] [1750901056.429300971] [my_container]: Load Library: /home/jimbo/ti/mmwave_ti_ros2/install/ti_mmwave_ros2_pkg/lib/libmmwave.so
[component_container-5] [INFO] [1750901056.431920138] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<ti_mmwave_ros2_pkg::ParameterParser>
[component_container-5] [INFO] [1750901056.431945895] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<ti_mmwave_ros2_pkg::mmWaveCommSrv>
[component_container-5] [INFO] [1750901056.431951684] [my_container]: Found class: rclcpp_components::NodeFactoryTemplate<ti_mmwave_ros2_pkg::mmWaveDataHdl>
[component_container-5] [INFO] [1750901056.431955706] [my_container]: Instantiate class: rclcpp_components::NodeFactoryTemplate<ti_mmwave_ros2_pkg::mmWaveDataHdl>
[component_container-5] [INFO] [1750901056.440929922] [mmWaveDataHdl]: mmWaveDataHdl: data_port = /dev/ttyUSB0
[component_container-5] [INFO] [1750901056.440964505] [mmWaveDataHdl]: mmWaveDataHdl: data_rate = 1250000
[component_container-5] [INFO] [1750901056.440970578] [mmWaveDataHdl]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
[component_container-5] [INFO] [1750901056.440974988] [mmWaveDataHdl]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
[component_container-5] [WARN] [1750901056.444404635] [rcl.logging_rosout]: Publisher already registered for provided node name. If this is due to multiple nodes with the same name then all logs for that logger name will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.

Jimbo

  • 0
    TI__Mastermind 24207 points

    Hello Jimbo,

    This is a current limitation with the ROS driver for the low power architecture due to the atypical baudrate of 1250000. Does the device struggle to output information in time when ran without the baudrate command? When ran without it, the data will come in at the same baud rate as the configuring, 115200

    Best Regards,

    Pedrhom

  • 0 in reply to Pedrhom Nafisi
    Prodigy 10 points

    Hello Pedrhom,

    We try not to send the baudrate 1250000 command. the sensor can be started, but the ROS2 node will crash after running for about 3 to 10 minutes.

    1749452177.0280678 [component_container-5] [INFO] [1749452177.025753047] [mmWaveDataHdl]: mmWaveDataHdl: data_port = /dev/ttyUSB0
    1749452177.0282269 [component_container-5] [INFO] [1749452177.025788358] [mmWaveDataHdl]: mmWaveDataHdl: data_rate = 115200
    1749452177.0282969 [component_container-5] [INFO] [1749452177.025793656] [mmWaveDataHdl]: mmWaveDataHdl: max_allowed_elevation_angle_deg = 90
    1749452177.0283539 [component_container-5] [INFO] [1749452177.025797830] [mmWaveDataHdl]: mmWaveDataHdl: max_allowed_azimuth_angle_deg = 90
    1749452177.0389524 [component_container-5] [WARN] [1749452177.038566909] [rcl.logging_rosout]: Publisher already registered for node name: 'my_container'. If this is due to multiple nodes with the same name then all logs for the logger named 'my_container' will go out over the existing publisher. As soon as any node with that name is destructed it will unregister the publisher, preventing any further logs for that name from being published on the rosout topic.
    1749452181.7892845 [component_container-5]
    1749452181.7894278 [component_container-5]
    1749452181.7894802 [component_container-5] ==============================
    1749452181.7895174 [component_container-5] List of parameters
    1749452181.7895508 [component_container-5] ==============================
    1749452181.7895825 [component_container-5] Number of range samples: 0
    1749452181.7896297 [component_container-5] Number of chirps: 403
    1749452181.7896614 [component_container-5] f_s: 0.000 MHz
    1749452181.7896893 [component_container-5] f_c: -nan GHz
    1749452181.7897162 [component_container-5] Bandwidth: -nan MHz
    1749452181.7897432 [component_container-5] PRI: 0.000 us
    1749452181.7897696 [component_container-5] Frame time: 100.000 ms
    1749452181.7897964 [component_container-5] Max range: -nan m
    1749452181.7898233 [component_container-5] Range resolution: -nan m
    1749452181.7899141 [component_container-5] Max Doppler: +--nan m/s
    1749452181.7899435 [component_container-5] Doppler resolution: -nan m/s
    1749452181.7899704 [component_container-5] ==============================
    1749452270.2732613 [component_container-5] terminate called after throwing an instance of 'std::out_of_range'
    1749452270.2735934 [component_container-5] what(): vector::_M_range_check: __n (which is 352) >= this->size() (which is 352)
    1749452271.5813448 [ERROR] [component_container-5]: process has died [pid 4952, exit code -6, cmd '/opt/ros/rolling/lib/rclcpp_components/component_container --ros-args -r __node:=my_container -r __ns:=/'].
    1749452271.5821409 [component_container-5] DataUARTHandler Read Thread: Port is open

    Jimbo

  • 0 in reply to Jimbo Lo
    TI__Mastermind 24207 points

    Hello Jimbo,

    This crash is possibly due to the sensor itself crashing, as this is what happens when the data coming in is faster than what it can put out. If this is a major issue, my suggestion is actually changing the configuration baud rate to be 1250000 itself. What the problem with the ROS driver and accompanying python serial driver is the changing of baud rates from 115200 to 1250000 when going from sending the baudrate command, to now sending the sensorStart command at 1250000 and then finally receiving the data at 1250000. The "serial" package has also not been tested at thus baud rate, since 1250000 is non-standard.

    Best Regards,

    Pedrhom