Tool/software:
Hello, i'm using a IWR6843AOP radar with ROS2 on an ubuntu 22.04 system. Since today i was using the cfg file named as "6843AOP_Standard.cfg" but i changed so i can have more range.Since then i get this log when i'm running the "ros2 launch ti_mmwave_rospkg 6843AOP_Standard.py"
[INFO] [launch]: All log files can be found below /home/nefeli/.ros/log/2025-06-27-14-42-26-930812-nefeli-desktop-20009
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [mmWaveCommSrv-2]: process started with pid [20012]
[INFO] [mmWaveQuickConfig-3]: process started with pid [20014]
[INFO] [ParameterParser-4]: process started with pid [20016]
[INFO] [DataHandlerClass-5]: process started with pid [20018]
[INFO] [ConfigParameterServer-1]: process started with pid [20010]
[INFO] [rviz2-6]: process started with pid [20020]
[mmWaveQuickConfig-3] [INFO] [1751024547.121866120] [rclcpp]:
[mmWaveQuickConfig-3]
[mmWaveQuickConfig-3] ==============================
[mmWaveQuickConfig-3] mmWave ROS Driver is starting
[mmWaveQuickConfig-3] ==============================
[mmWaveQuickConfig-3]
[mmWaveQuickConfig-3] [INFO] [1751024547.128011275] [rclcpp]: mmWaveQuickConfig: Configuring mmWave device using config file: /home/nefeli/Desktop/mmwave_ti_ros/ros2_driver/install/ti_mmwave_rospkg/share/ti_mmwave_rospkg/cfg/6843AOP_Standard.cfg
[mmWaveQuickConfig-3] [INFO] [1751024547.159097892] [rclcpp]: File was opened
[DataHandlerClass-5] [INFO] [1751024547.172289866] [rclcpp]: DataUARTHandler Read Thread: Port is open
[mmWaveCommSrv-2] [INFO] [1751024547.183460902] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'sensorStop'
[mmWaveCommSrv-2] [INFO] [1751024548.184982542] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[rviz2-6] [INFO] [1751024548.191002060] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-6] [INFO] [1751024548.191215059] [rviz2]: OpenGl version: 4.6 (GLSL 4.6)
[mmWaveCommSrv-2] [INFO] [1751024548.200990620] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'flushCfg'
[rviz2-6] [INFO] [1751024548.236241966] [rviz2]: Stereo is NOT SUPPORTED
[ParameterParser-4] [INFO] [1751024549.190089459] [rclcpp]:
[ParameterParser-4]
[ParameterParser-4] ==============================
[ParameterParser-4] List of parameters
[ParameterParser-4] ==============================
[ParameterParser-4] Number of range samples: 224
[ParameterParser-4] Number of chirps: 16
[ParameterParser-4] f_s: 7.000 MHz
[ParameterParser-4] f_c: 62.300 GHz
[ParameterParser-4] Bandwidth: 3200.000 MHz
[ParameterParser-4] PRI: 83.000 us
[ParameterParser-4] Frame time: 33.333 ms
[ParameterParser-4] Max range: 10.493 m
[ParameterParser-4] Range resolution: 0.047 m
[ParameterParser-4] Max Doppler: +-4.831 m/s
[ParameterParser-4] Doppler resolution: 0.604 m/s
[ParameterParser-4] ==============================
[ParameterParser-4]
[mmWaveCommSrv-2] [INFO] [1751024549.201190700] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024549.217685740] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'dfeDataOutputMode 1'
[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__'
[ERROR] [ParameterParser-4]: process has died [pid 20016, exit code -11, cmd '/home/nefeli/Desktop/mmwave_ti_ros/ros2_driver/install/ti_mmwave_rospkg/lib/ti_mmwave_rospkg/ParameterParser --ros-args -r __node:=ParameterParser --params-file /tmp/launch_params_6331k2wj --params-file /tmp/launch_params_n9249jco'].
[mmWaveCommSrv-2] [INFO] [1751024550.217944183] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024550.234828517] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'channelCfg 15 7 0'
[mmWaveCommSrv-2] [INFO] [1751024551.234667739] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024551.252386023] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'adcCfg 2 1'
[mmWaveCommSrv-2] [INFO] [1751024552.252648006] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024552.269612279] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'adcbufCfg -1 0 1 1 1'
[mmWaveCommSrv-2] [INFO] [1751024553.269977234] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024553.286696730] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'profileCfg 0 60 43 7 40 0 0 100 1 224 7000 0 0 30'
[mmWaveCommSrv-2] [INFO] [1751024554.286953355] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024554.303787158] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 0 0 0 0 0 0 0 1'
[mmWaveCommSrv-2] [INFO] [1751024555.304259369] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024555.321379935] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 1 1 0 0 0 0 0 2'
[mmWaveCommSrv-2] [INFO] [1751024556.321584801] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024556.337572461] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'chirpCfg 2 2 0 0 0 0 0 4'
[mmWaveCommSrv-2] [INFO] [1751024557.337834474] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024557.354684822] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'frameCfg 0 2 16 0 33.333 1 0'
[mmWaveCommSrv-2] [INFO] [1751024558.354601984] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024558.371106047] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'lowPower 0 0'
[mmWaveCommSrv-2] [INFO] [1751024559.371291949] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024559.387652102] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'guiMonitor -1 1 0 0 0 0 0'
[mmWaveCommSrv-2] [INFO] [1751024560.387637286] [rclcpp]: mmWaveCommSrv: Received response from sensor: ''
[mmWaveCommSrv-2] [INFO] [1751024560.404627670] [rclcpp]: mmWaveCommSrv: Sending command to sensor: 'cfarCfg -1 0 2 8 4 3 0 15 1'
^C[WARNING] [launch]: user interrupted with ctrl-c (SIGINT)
[DataHandlerClass-5] [WARN] [1751024560.623420994] [rclcpp]: Stopping Threads
[mmWaveCommSrv-2] [INFO] [1751024560.623493317] [rclcpp]: signal_handler(signum=2)
[rviz2-6] [INFO] [1751024560.623414914] [rclcpp]: signal_handler(signum=2)
[ConfigParameterServer-1] [INFO] [1751024560.623441187] [rclcpp]: signal_handler(signum=2)
[mmWaveQuickConfig-3] [INFO] [1751024560.623942997] [rclcpp]: signal_handler(signum=2)
[mmWaveQuickConfig-3] [WARN] [1751024560.625383178] [rclcpp]:
[mmWaveQuickConfig-3]
[mmWaveQuickConfig-3] ==================================
[mmWaveQuickConfig-3] mmWave ROS Driver is shutting down
[mmWaveQuickConfig-3] ==================================
[mmWaveQuickConfig-3]
[mmWaveQuickConfig-3] terminate called after throwing an instance of 'rclcpp::exceptions::RCLError'
[mmWaveQuickConfig-3] what(): failed to create guard condition: the given context is not valid, either rcl_init() was not called or rcl_shutdown() was called., at ./src/rcl/guard_condition.c:67
[INFO] [ConfigParameterServer-1]: process has finished cleanly [pid 20010]
[INFO] [DataHandlerClass-5]: process has finished cleanly [pid 20018]
[INFO] [rviz2-6]: process has finished cleanly [pid 20020]
I changed back to the original cfg but i was still getting this error and no Pointcloud.
I rebuild the workspace but again nothing happens. Should i've do something else? Should i reflash the binary to the radar?
Thank you.
